Method of Spheres for Solving 3D Formation Task in a Group of Quadrotors

摘要

Formation task in a group of unmanned aerial vehicles (UAVs) is a very important problem in a multi-robotics. The paper contains a brief analysis of existing methods for formation task in groups of robots. A new method for solving formation task in a group of quadrotors is proposed. The method make it possible to ensure accurate compliance with distances between quadrotors in the formation, as well as featuring low computational complexity.