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Extension of a distributed formation controller


D. Speziali

Semester Thesis, SS17

The goal of the Semester Project was to extend the formation controller developped in [1] to allow for trajectories to be described as piecewise smoothing splines, with the intention of developping a testbed for distributed flying control, using the Robot Operating System (Ros [8]). For this purpose a package containing various functions to generate and manipulate piecewise smoothing splines and to compute the optimal trajectories was developed, which enables the tracking of a given target trajectory starting from the actual position of the agent. To solve the resulting optimization problem, the Quadratic Program was used.

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


Type of Publication:

(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2017:IFA_5683
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