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We present a distributed control strategy for a team of quadrotors toautonomously achieve a desired 3D formation. Our approach is based on localrelative position measurements and does not require global position informationor inter-vehicle communication. We assume that quadrotors have a common senseof direction, which is chosen as the direction of gravitational force measuredby their onboard IMU sensors. However, this assumption is not crucial, and ourapproach is robust to inaccuracies and effects of acceleration on gravitationalmeasurements. In particular, converge to the desired formation is unaffected ifeach quadrotor has a velocity vector that projects positively onto the desiredvelocity vector provided by the formation control strategy. We demonstrate thevalidity of proposed approach in an experimental setup and show that a team ofquadrotors achieve a desired 3D formation.

Robust 3D Distributed Formation Control with Application to Quadrotors