Distributed Adaptive Formation Control Of A Team Of Aerial Robots In Cluttered Environments

Multi-robot system coordinated navigation in obstacle populated environment is likely to raise conflict between collision avoidance and local formation maintenance. In this paper, we explored a model predictive control based framework to achieve control of aerial robot swarm moving in a cluttered environment by introducing a local formation transform approach to reconfigure the formation topology locally, while guaranteeing collision-free with static and dynamic obstacles. Finally, the effectiveness of the proposed approach is validated by simulations and realistic experiments.