Coordination and flocking of UAVs and UGVs

Master's thesis project by Stevedan Ogochukwu Omodolor on coordination and flocking of UAVs and UGVs, using the Crazyflies, omni-wheeled robots "klotterbot" and HTC/VIVE lighthouses.

TFRT-6181. https://lup.lub.lu.se/ student-papers/

Formation.and.coordination.of.three.UAVs.and.one.UGV.mp4

General Info

This repository contains the two projects, each of which includes it own README detailing how it was implemented:

• Omniwheels_controller- This is an implementation of the velocity controller that was ran on the three-wheel omniwheeled robot.

• Formation_coordination_uav_ugv- This contains a implementation of the formation and coordination algorithm in simulation(MATLAB) and in the real robot(ROS, C++).

Contributing authours

stevedan.o.omodolor@gmail.com

Citation

Consider citing this work if you find the code helpful for your projects.

Future work

A detailed explanation on the possible future work to improve this project can be found in the masters thesis report.

@mastersthesis{my-thesis,
  author       = {{Stevedan Omodolor}},
  language     = {{eng}},
  note         = {{TFRT-6181}},
  title        = {{Formation and orientation-based control of UAVs and Coordination with UGVs}},
  year         = {{2022}},
    school = {Department of Automatic Control, Lund University, Sweden},
    url = {https://lup.lub.lu.se/student-papers},
%   number = {TFRT-6181},
}