Continuum Deformation of a Multi-Quadcopter System in a Payload Delivery Mission

In this paper, we consider the collective motion of a multi-quadcopter system (MQS) for a payload delivery mission. Collective motion of the MQS is treated as continuum deformation given by a homogeneous transformation. With this formulation, MQS inter-agent distances can be expanded or contracted while collision avoidance is assured. Because changes in inter-agent distances can increase stiffness of cables connecting a payload to the quadcoptors, controllers must be robust to external excitation. The desired reference trajectories have been realized using a backstepping control strategy, which is free from small-angle assumptions and is demonstrated capable of disturbance rejection in simulation.