Real-time event-based formation control of a group of VTOL-UAVs

International audienceThis paper presents the development of a collaborative event-based control applied to the problem of formation of a group of VTOL-UAVs (Vertical Takeoff and Landing, Unmanned Aerial Vehicles). Each VTOL-UAV decides, based on the difference of its current state (linear position and velocity) and its latest broadcast state, when it has to send a new value to its neighbours. The asymptotic convergence to average consensus or desired formation is depicted via a real-time implementation