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

This paper presents the development of a collaborative event-based control applied to the problem of formation of a group of VTOL-UAVs (Vertical Take-off 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 neighbors. The asymptotic convergence to desired formation is depicted via a real-time implementation using three quadrotors.