Authors D.Ya. Ivanov
Month, Year 08, 2014 @en
Index UDC 007.52
Abstract The paper is dedicated to a formation task in a group of unmanned aerial vehicles. The progress in a microelectronics and a computing make it possible to produce small-sized UAV, which can be cheap and easily accessible in case of mass production. However, practical possibilities of a single UAV are limited. Robustness and flexibility constitute the main advantages of multiple-robot systems vs. single-robot ones. Also the use of group of UAVs opens wide perspectives for unmanned aircraft. There are a lot of types of small-sized unmanned aerial vehicles, which can be classified on: airplane, helicopter, bird-like, insectlike, autogiro and blimp. Quadrotors are the most universal type of them. The article contains a brief analysis of existing methods for solving formation task. The author also proposes a new method for solving formation task, which make it possible to ensure accurate compliance with distances between quadrotors in the formation, as well as featuring low computational complexity. The article is aimed at the problem of formation task on the plane for those cases where the mutual position of quadrotors is more important rather than absolute coordinates of their positions in space. The algorithm based on a proposed method has a low computational complexity, it allows to create formations with various shapes, and opens up opportunities for practical application of groups of quadrotor UAVs for video monitoring, forming phased antenna arrays and mobile telecommunication systems.

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Keywords Formation task; group robotics; quadrotor; quadrocopter; unmanned aerial vehicle.
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