A noise-robust variant of formation-enforcing control for UAVs is created by decomposing gradient-descent commands and modifying them using noise distribution estimates to reduce overshoot probability, with real-flight tests showing reduced oscillations versus the baseline.
On-board range-based relative localization for micro air vehicles in indoor leader–follower flight,
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Distributed UAV Formation Control Robust to Relative Pose Measurement Noise
A noise-robust variant of formation-enforcing control for UAVs is created by decomposing gradient-descent commands and modifying them using noise distribution estimates to reduce overshoot probability, with real-flight tests showing reduced oscillations versus the baseline.