Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control
J. A. Guerrero, Yacine Challal, P. Castillo · 2012
This chapter establishes the impact of the medium access protocols on the average consensus problem over wireless networks for a group of quadrotors. It analyzes the impact of the following algorithms on the multiple quadrotor average consensus problem: carrier sense multiple access with collision avoidance (CSMA/CA) and time-division multiple access (TDMA). The chapter introduces a brief description of the multiquadrotor dynamics and control over perfect communication links. It presents the multiquadrotor average consensus over wireless network analysis. A stability analysis to improve the convergence of the consensus is proposed. Simulation results are illustrated. Finally, the chapter concludes about the future work in the area includes experimental tests on mini rotorcraft using real-time embedded control systems, and work to develop an optimized MAC algorithm for mobile robot systems. Controlled Vocabulary Terms atomic collisions; carrier sense multiple access; collision avoidance; media access control layer protocol; media access protocol; time division multiple access; wireless networks