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This paper introduces the distributed flight array (DFA) which is being developed at ETH Zurich. This multi-rotor platform consists of autonomous rotor modules that are able to drive, dock with their peers, and fly in a coordinated fashion. These modules are organized as distributed computational units with minimal sensory input. This is a complex system that is rich in dynamics with much room to explore various strategies of distributed estimation and control. In this paper, a simple distributed strategy for hover control is presented and feasibility of the DFA is demonstrated.
Date of Conference: 15-18 Dec. 2009