This platform provides a framework for scientific collaborations between CRAN and LORIA in the field of drones, and more specifically in the field of formation flight control. It is supported by the work of Laurent Ciarletta (Simbiot, CRAN), Didier Theillol (CID, CRAN), Jean-Christophe Ponsart (CID, CRAN). The first works concern the design of control algorithms for a leader-following consensus in second-order multi-agent systems taking into account communication faults (thesis of Juan Antonio Vazquez Trejo). All agents must follow the trajectories of a virtual leader despite communication delays varying over time depending on the distance of the agents. Conditions based on linear matrix inequalities are obtained to synthesize a control gain that guarantees the stability of the synchronization error. The platform allowed the validation of the algorithms through experiments on multirotor drones. More generally, it provides a secure framework for indoor flights before any outdoor experiments.
This platform consists of a 5×7 m flight arena on the ground at a height of 5 m, delimited by a rigid aluminum structure. To ensure the safety of the equipment and people, this structure is equipped with nets and mats on the ground. It is also equipped with an 8-camera Optitrack Prime 17W Motion Tracking system, allowing precise localization of drones in space (position and orientation). It is equipped with several models of multirotor drones including:
— 4 quadrotors Intel Aero — Parrot Bebop 2 Power — 1 DJI matrix 200 quadrotors — 1 DJI matrix 600 hexarotor
Finally, specific equipment ensures safety during the handling of Lipo batteries: storage in a fireproof cabinet, secure charger, and fireproof charging box.
