The video is one of the final experiments performed by Bryan Convens at the end of his six-month stay at CU Boulder. During his research stay, Bryan developed a Distributed ERG add-on to the Ìý´Ú°ù²¹³¾±ð·É´Ç°ù°ì. The addon enables crazyflies to perform real-time formation changes without requiring any form of off-line trajectory planning. The extremely limited computational footprint of the ERG ensures that the code can be implemented onboard each Crazyflie, thus enabling the swarm to reach the desired setpoint without violating constraints (e.g. actuator saturation, external obstacle avoidance, inter-agent collision avoidance).Â
The proposed method demonstrates the effectiveness of the ERG framework in scenarios where the controlled system has very limited computational capabilities.
This experiment is a significant milestone for the development of computationally inexpensive strategies for the Formation Control of Multiple Unmanned Aerial Vehicles, and doubles up as a nontrivial validation of the Explicit Reference GovernorÌý´Ú°ù²¹³¾±ð·É´Ç°ù°ì.