Safe Affine Transformation-Based Guidance of a Large-Scale Multi-Quadcopter System (MQS)

Hossein Rastgoftar, Ilya V. Kolmanovsky

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


This paper studies the problem of affine transformation-based guidance of a multi-quadcopter system (MQS) in an obstacle-laden environment. Such MQSs can perform a variety of cooperative tasks including information collection, inspection mapping, disinfection, and firefighting. The MQS affine transformation is an approach to a decentralized leaderfollower coordination guided by n +1 leaders, where leaders are located at vertices of an n-D simplex, called leading simplex, at any time t. The remaining agents are followers acquiring the desired affine transformation via local communication. Followers are contained in a rigid-size ball at any time t but they can be distributed either inside or outside the leading simplex. By eigendecomposition of the affine transformation coordination, safety in a large-scale MQS coordination can be ensured by constraining eigenvalues of the affine transformation. Given the initial and final configurations of the MQS, A* search is applied to optimally plan safe coordination of a large-scale MQS minimizing the travel distance between the the initial and final configuration. The paper also proposes a proximity-based communication topo

Original languageEnglish (US)
JournalIEEE Transactions on Control of Network Systems
StateAccepted/In press - 2021


  • Affine Transformation
  • and Local Communication
  • Collision avoidance
  • Decentralized Control
  • Indexes
  • Large-Scale Coordination
  • Matrix decomposition
  • Planning
  • Safety
  • Safety
  • Stability
  • Strain
  • Topology

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications
  • Control and Optimization


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