Implementation of distributed consensus with guaranteed real-Time communication on an outdoor quadrotor testbed

Apurva Joshi, Ankit Wala, Mohit Ludhiyani, Saksham Singh, Mohit Gagrani, Subhadip Hazra, Debraj Chakraborty, D. Manjunath, Hoam Chung

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

6 Citations (Scopus)


This article describes the outdoor implementation of a decentralized consensus algorithm which drives multiple quadrotors to an autonomously decided consensus point. The quadrotors use a GPS module for localization and Xbee modules for data exchange in order to autonomously achieve consensus. A novel synchronized, time-slotted and scalable communication protocol is proposed, which avoids data packet collisions and ensures real-Time connectivity between agents. This protocol can address changing communication graph topologies and temporary link breaks and additions. The performance of this protocol and its effect on consensus performance is characterized. The consensus and communication experiments are implemented on a testbed of six quadrotors in an outdoor environment. Details regarding the consensus experiment and communication protocol are presented.

Original languageEnglish
Title of host publication2017 IEEE 56th Annual Conference on Decision and Control (CDC 2017)
EditorsMario Sznaier
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781509028733, 9781509028726
ISBN (Print)9781509028740
Publication statusPublished - 2017
EventIEEE Conference on Decision and Control 2017 - Melbourne Convention Center, Melbourne, Australia
Duration: 12 Dec 201715 Dec 2017
Conference number: 56th (Proceedings)


ConferenceIEEE Conference on Decision and Control 2017
Abbreviated titleCDC 2017
Internet address

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