Cluster space control of aerial robots

The cluster space state representation for multirobot systems provides a simple means of specifying and monitoring the geometry and motion characteristics of a cluster of mobile robots. In previous work, this approach has been experimentally verified and validated for controlling the motion of planar mobile multi-robot systems ranging from land rovers to autonomous boats. In this paper we present the application of cluster space control to non-planar groups of two and three aerostatically stable blimps, each with four degrees of freedom. This paper reviews the relevant kinematic transforms and presents both simulation and experimental results that demonstrate successful formation control of these clusters.