Abstract:This paper studies the problem of affine transformation-based guidance of a multi-quadcopter system (MQS) in an obstacle-laden environment. Such MQSs can perform a variety of cooperative tasks including information collection, inspection mapping, disinfection, and firefighting. The MQS affine transformation is an approach to a decentralized leaderfollower coordination guided by π + 1 leaders, where leaders are located at vertices of an π-D simplex, called leading simplex, at any time π‘. The remaining agents… Show more
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