A Distributed Control Approach to Formation Balancing and Maneuvering of Multiple Multirotor UAVs.

In this paper, we propose and experimentally verify a distributed formation control algorithm for a group of multirotor unmanned aerial vehicles (UAVs). The algorithm brings the whole group of UAVs simultaneously to a prescribed submanifold that determines the formation shape in an asymptotically stable fashion in two- and three-dimensional environments. The complete distributed control framework ...