Invariant Set Distributed Explicit Reference Governors for Provably Safe On-Board Control of Nano-Quadrotor Swarms

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Abstract

This article provides a theory for provably safe and computationally efficient distributed constrained control, and describes an application to a swarm of nano-quadrotors with limited on-board hardware and subject to multiple state and input constraints. We provide a formal extension of the explicit reference governor framework to address the case of distributed systems. The efficacy, robustness, and scalability of the proposed theory is demonstrated by an extensive experimental validation campaign and a comparative simulation study on single and multiple nano-quadrotors. The control strategy is implemented in real-time on-board palm-sized unmanned erial vehicles, and achieves safe swarm coordination without relying on any offline trajectory computations.

Original languageEnglish
Article number663809
Pages (from-to)1-23
Number of pages23
JournalFrontiers in Robotics and AI
Volume8
DOIs
Publication statusPublished - 22 Jun 2021

Bibliographical note

Copyright © 2021 Convens, Merckaert, Vanderborght and Nicotra.

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