Outdoor co-operative control of multiple quadcopters using decentralized GPS localisation

Narendra Limbu, Indrajit Ahuja, Harshal Sonar, Sudeep Solanki, Soniya Jain, Hoam Chung, Debraj Chakraborty

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

3 Citations (Scopus)


The implementation of co-operative outdoor navigation and control of a team of quadcopters, using GPS-based localization is presented. A testbed of quadcopters is indigenously developed using commercial off-the-shelf components. In this article, the complete design process based on open source hardware (ArduPilot Mega) and software (AeroQuad) is documented, which includes the structure of the autopilot, control structure for various autonomous modes, and the integration of the fully distributed navigation algorithms. Our experiments reported here achieve completely decentralised and autonomous outdoor co-operative flights using solely open source components.

Original languageEnglish
Title of host publication2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781479970438
Publication statusPublished - 24 Aug 2015
Externally publishedYes
EventInternational Workshop on Robot Motion and Control 2015 - Poznań University of Technology, Poznań, Poland
Duration: 6 Jul 20158 Jul 2015
Conference number: 10th


WorkshopInternational Workshop on Robot Motion and Control 2015
Abbreviated titleRoMoCo 2015
Internet address

Cite this