Model predictive formation control for quadcopters with towing cables

In this paper, a formation control for quadcopters connected by cables is considered. The quadcopters need to flight by avoiding the crush among each other and by keeping the distance constraint due to the cable. Moreover, the avoidance of contact against walls should be taken into account since the system is assumed to flight an indoor environment. To hold these several constraints, the model predictive based controller is proposed, and the effectiveness of the controller is verified via numerical simulation.