Collision-Free Continuum Deformation Coordination of a Multi-Quadcopter System Using Cooperative Localization

Hamid Emadi, Harshvardhan Uppaluru, Hashem Ashrafiuon, Hossein Rastgoftar

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper integrates cooperative localization with continuum deformation coordination of a multi-quadcopter system (MQS) to assure safety and optimality of the quadcopter team coordination in the presence of position uncertainty. We first consider the MQS as a finite number of particles of a deformable triangle in a 3-D motion space and define their continuum deformation coordination as a leader-follower problem in which leader quadcopters can estimate (know) their positions but follower quadcopters rely on relative position measurements to localize themselves and estimate the leaders' positions. We then propose a navigation strategy for the MQS to plan and acquire the desired continuum deformation coordination, in the presence of measurement noise, disturbance, and position uncertainties, such that collision is avoided and rotor angular speeds of all quadcopters remain bounded. We show the efficacy of the proposed strategy by simulating the continuum deformation coordination of an MQS with eight quadcopters.

Original languageEnglish (US)
Title of host publication2022 European Control Conference, ECC 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9783907144077
StatePublished - 2022
Event2022 European Control Conference, ECC 2022 - London, United Kingdom
Duration: Jul 12 2022Jul 15 2022

Publication series

Name2022 European Control Conference, ECC 2022


Conference2022 European Control Conference, ECC 2022
Country/TerritoryUnited Kingdom

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Information Systems and Management
  • Control and Systems Engineering
  • Control and Optimization
  • Modeling and Simulation


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