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This paper develops and experimentally evaluates a navigation function forquadrotor formation flight that is resilient to abrupt quadrotor failures andother obstacles. The navigation function is based on modeling healthyquadrotors as particles in an ideal fluid flow. We provide three keycontributions: (i) A Containment Exclusion Mode (CEM) safety theorem and proofwhich guarantees safety and formally specifies a minimum safe distance betweenquadrotors in formation, (ii) A real-time, computationally efficient CEMnavigation algorithm, (iii) Simulation and experimental algorithm validation.Simulations were first performed with a team of six virtual quadrotors todemonstrate velocity tracking via dynamic slide speed, maintaining sufficientinter-agent distances, and operating in real-time. Flight tests with a team oftwo custom quadrotors were performed in an indoor motion capture flightfacility, successfully validating that the navigation algorithm can handlenon-trivial bounded tracking errors while guaranteeing safety.

Quadrotor Formation Flying Resilient to Abrupt Vehicle Failures via a Fluid Flow Navigation Function