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Gazebo-based Simulations for Formation Control Algorithms


M. Bösch

Semester Thesis, SS16

The task was to develop a testbed for distributed flying algorithms on top of the Robot Operating System (ROS) and Gazebo, a simulation and 3D visualization software. In particular, a distributed formation controller from the literature was implemented and analyzed. This algorithm allows a team of aerial vehicles to track a given group trajectory while preserving a specified time-varying formation. In addition we implemented a non-linear position controller for quadcopters that satisfies the high tracking performance required by formation control.

Supervisors: Paul Beuchat, Yvonne Stüurz, John Lygeros, Roy Smith


Type of Publication:

(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2016:IFA_5550
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