An Algorithm for Flock Formation Control using Distributed Consensus

This paper proposes a formation control algorithm based on a flocking approach to coordinate a team of quadro-tors. A flock formation control algorithm aims to respect for Reynolds rules (cohesion, alignment and separation) whereas maintaining a formation shape of Unmanned Aerial Vehicles (UAVs) team defined a priori. In the proposed algorithm, the navigation approach for flocking algorithm presented by Olfati-Saber is reformulated for keeping a predefined formation shape, propagating the desired formation in the network using a distributed consensus algorithm, starting from a virtual leader. The proposal is validated using a Model-in-the-Loop (MiL) simulation composed by the linear models of quadrotors and the position, altitude and attitude proportional-derivative controllers. The results obtained were presented and analysed based on graphic resources and metrics for formation control and flocking behaviour algorithms.