@inproceedings{188aef1f612a4488a129377546d2e635,
title = "Development of a low cost quadrotor platform for swarm experiments",
abstract = "The goal of this work was to develop an aerial platform which facilitates the experimental testing of swarm and formation control algorithms. A sub-$500 carbon fibre quadrotor was designed and fitted with the open source ArdupilotMega 2.0 avionics and commercial off the shelf electronics. The quadrotors were controlled from a desktop computer running the Robot Operating System (ROS) software environment and using a Vicon motion capture system for position feedback. To facilitate the computer control, a serial interface was developed utilising a conventional 2.4GHz radio control and Arduino board. Controllers were implemented and tuned to facilitate control over position or velocity/position hybrid trajectories. Using a MATLAB interface, the complete platform has been demonstrated with three quadrotors flying simultaneously. It was found that a single quadrotor is able to hover at a desired position with a mean offset of 6cm and standard deviation of 2cm.",
keywords = "Multi-Agent System, Quadrotor Control, Quadrotor Development, Swarm Platform",
author = "Edwin Davis and Nizette, {Ben E.} and Changbin Yu",
year = "2013",
month = oct,
day = "18",
language = "English",
isbn = "9789881563835",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "7072--7077",
booktitle = "Proceedings of the 32nd Chinese Control Conference, CCC 2013",
address = "United States",
note = "32nd Chinese Control Conference, CCC 2013 ; Conference date: 26-07-2013 Through 28-07-2013",
}