Implementation of min-max time consensus tracking on a multi-quadrotor testbed

This paper deals with the implementation of minmax time consensus tracking on a multi-quadrotor testbed. A leader quadrotor generates a reference trajectory onto which the remaining quadrotors converge in min-max time using a local feedback control strategy. This control strategy is known to be globally optimal. Further, the effect of finite communication/measurement rate on consensus tracking is analyzed and bounds on the resulting deviations of trajectories are characterized. The theoretical claims made are verified through experiments.