Implementation of distributed consensus on an outdoor testbed

Apurva Joshi, Narendra Limbu, Indrajit Ahuja, Ameer K. Mulla, Hoam Chung, Debraj Chakraborty

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6 Citations (Scopus)


In this paper, a distributed multi-agent consensus algorithm with theoretically provable convergence properties is implemented outdoors with three quadrotors. These quadrotors communicate with each other over an incomplete communication graph. Each quadrotor computes its position using only GPS data and transmits this information to the neighbouring quadrotors using Xbee wireless modules. The relative position information from all the neighbours is used by each quadrotor to compute the required pitch and roll angles, according to the consensus algorithm. It is shown that this distributed control law successfully navigates all the quadrotors to an autonomously decided consensus point. Details of the implementation and the consensus experiment are presented.

Original languageEnglish
Title of host publication2016 European Control Conference (ECC 2016)
Subtitle of host publicationAalborg, Denmark, 29 June-1 July, 2016, [proceedings]
EditorsAnders Rantzer
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781509025916
ISBN (Print)9781509025923
Publication statusPublished - 2017
EventEuropean Control Conference 2016 - Aalborg, Denmark
Duration: 29 Jun 20161 Jul 2016
Conference number: 15th (Proceedings)


ConferenceEuropean Control Conference 2016
Abbreviated titleECC 2016
Internet address

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