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.
The MRS UA V system: Pushing the frontiers of reproducible research, real-world deployment, and education with autonomous un- manned aerial vehicles,
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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.