Physical Experimental Realization of Modified Artificial Physics Method Based on UAVs Formation Control

This paper provided the physical experiments of formation flights based on the modified artificial physics for the multiple Unmanned Aerial Vehicles (UAVs) formation control problem. This control method that using modified artificial physics force law to build up UAV formation is verified not only in theory but also in simulation environment in our previous work. To further verify the method in physical experiment, we have introduced a high precision indoor positioning system (VICON system) and mini quad-rotors (crazyflies) to construct our real experimental platform. The result shows the reliability of the experimental platform and the effectiveness of our control method based on modified artificial physics.