Consensus-based formation of a swarm of quadrotors interacting over ring digraphs
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866914205425205248 |
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| author | Dennisselvan, Sahaya Aarti Kumar, Shashi Ranjan Mukherjee, Dwaipayan |
| author_facet | Dennisselvan, Sahaya Aarti Kumar, Shashi Ranjan Mukherjee, Dwaipayan |
| contents | This work proposes a cooperative strategy for a group of quadrotors interacting over ring digraphs with macro-vertices of size two. Consensus for a group of general double integrators has been initially investigated, and it has been proved that through a suitable choice of a single controller parameter, consensus and stability of the resulting networked dynamical system can be ensured. This further opens up the possibility of achieving a desired formation and to move a swarm of quadrotors, interacting over ring digraphs, at a desired flight velocity, using a single controller gain. An analysis of achievable velocities is performed. Examples have been provided to offer deeper insights into the obtained analytical results. Simulation studies clearly demonstrate that a desired formation is achieved, starting from arbitrary initial positions, while also ensuring convergence to a final desired flight velocity. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_15225 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Consensus-based formation of a swarm of quadrotors interacting over ring digraphs Dennisselvan, Sahaya Aarti Kumar, Shashi Ranjan Mukherjee, Dwaipayan Systems and Control This work proposes a cooperative strategy for a group of quadrotors interacting over ring digraphs with macro-vertices of size two. Consensus for a group of general double integrators has been initially investigated, and it has been proved that through a suitable choice of a single controller parameter, consensus and stability of the resulting networked dynamical system can be ensured. This further opens up the possibility of achieving a desired formation and to move a swarm of quadrotors, interacting over ring digraphs, at a desired flight velocity, using a single controller gain. An analysis of achievable velocities is performed. Examples have been provided to offer deeper insights into the obtained analytical results. Simulation studies clearly demonstrate that a desired formation is achieved, starting from arbitrary initial positions, while also ensuring convergence to a final desired flight velocity. |
| title | Consensus-based formation of a swarm of quadrotors interacting over ring digraphs |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2512.15225 |