2019
Decentralized Formation Coordination of Multiple Quadcopters under Communication Constraints
ICRA 2019poster
This paper addresses the problem of decentralized, outdoor formation coordination with multiple quadcopters. The problem is formulated as a receding horizon, mixed-integer non-linear program (RH-MINLP). Each quadcopter solves this RH-MINLP to generate its time-optimal speed profile along a minimum s…