Min–max time consensus tracking on a multi-quadrotor testbed

Apurva Joshi, Vishal Sawant, Debraj Chakraborty, Hoam Chung

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In this work, min–max time consensus tracking is implemented on a multi-quadrotor testbed. The trajectory of a leader quadrotor is generated manually. The remaining quadrotors converge onto this reference trajectory in min–max time using a local feedback control strategy which is known to be globally optimal. Further, the effect of finite communication/measurement rate on consensus tracking is analysed. The bounds on the deviations of the trajectories due to finite communication/measurement rate are characterized. The theoretical claims made are verified through experiments.

Original languageEnglish
Article number104128
Number of pages12
JournalControl Engineering Practice
Publication statusPublished - Nov 2019


  • Autonomous robots
  • Cooperative systems
  • Decentralized control
  • Unmanned aerial vehicles

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