This paper presents a distributed, guidance and control algorithm for reconfiguring swarms
composed of hundreds to thousands of agents with limited communication and computation …

We present a distributed control algorithm simultaneously solving both the stochastic target
assignment and optimal motion control for large-scale swarms to achieve complex formation …

This paper presents a novel method for expanding the use of sequential convex
programming (SCP) to the domain of optimal guidance and control problems with nonlinear …

In this paper we propose CrazyS, an extension of the ROS (Robot Operating System)
package RotorS, aimed to modeling, developing and integrating the Crazyflie 2.0 nano …

This chapter proposes a typical use case dealing with the physical simulation of
autonomous robots (specifically, quadrotors) and their interfacing through ROS (Robot …

To date, controlled flight of very small, insect-sized (rvlOO mg) Micro Aerial Vehicles (MAVs)
has required off-board sensors and computation. Achieving autonomy in more general …

Research on multi-agent systems of UAVs is of growing interest in the research community,
with specific interest in the testing of novel algorithms on actual systems. Many existing …

This paper presents the use of an external vision-based positioning system for navigation
and flight control of micro aerial vehicles. The motion capture system Optitrack is used to …

Physical testing of quadcopter controllers is challenging as the quadcopters are vulnerable
to damages, and the cost needed for setting up a flying arena is enormous. This work aims …

The RoboBee is a novel insect-scale flapping wing Micro Aerial Vehicle that is envisioned to
enable exciting applications. While recent results have demonstrated full control as well as …