@inproceedings{c021da59f1b7407ab6b5a02085f77761,
title = "Semi-autonomous Multicopter Formation Control Under One Remote Pilot in GPS-Denied Environment",
abstract = "The multicopter formation is widely used in many different complex circumstances. And the semi-autonomous multicopter formation controlled with a single pilot on the ground draws people{\textquoteright}s attention due to the great adaptability to various kinds of environments. In this paper, we focus on the problem of passing through narrow channels with semi-autonomous multicopter formation. Similar to the definition for a single multicopter, the altitude hold mode for the multicopter formation is defined first. Then, the formation decision-making and formation low-level control of the altitude hold mode are proposed one by one. Finally, a hardware-in-the-loop simulation and a real experiment are performed with four multicopters to pass through a narrow channel.",
keywords = "Altitude hold mode, Formation, Semi-autonomous",
author = "Yan Gao and Donghui Wei and Chenggang Bai and Quan Quan",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Autonomous Unmanned Systems, ICAUS 2021 ; Conference date: 24-09-2021 Through 26-09-2021",
year = "2022",
doi = "10.1007/978-981-16-9492-9\_37",
language = "英语",
isbn = "9789811694912",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "368--378",
editor = "Meiping Wu and Yifeng Niu and Mancang Gu and Jin Cheng",
booktitle = "Proceedings of 2021 International Conference on Autonomous Unmanned Systems, ICAUS 2021",
address = "德国",
}