A testbed for aerial robots formation flight

Abstract

In this paper, we build a testbed with quadrotors for formation flight research. The hardware and software as well as a simulation platform are implemented and illustrated. An identification experiment is taken to obtain the dynamic model of our quadrotor. Using the identification dynamic model, we develop a position control algorithm. A group with two quadrotors to achieve formation flight are given to verify the performance of our testbed. At last, a sample-based real-time path planning method is implemented in simulation.