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arXiv · 2512.15225

Consensus-based formation of a swarm of quadrotors interacting over ring digraphs

Sahaya Aarti Dennisselvan·Shashi Ranjan Kumar·Dwaipayan Mukherjee
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Abstract

This work proposes a cooperative strategy for a group of quadrotors interacting over ring digraphs with macro-vertices of size two. Consensus for a group of general double integrators has been initially investigated, and it has been proved that through a suitable choice of a single controller parameter, consensus and stability of the resulting networked dynamical system can be ensured. This further opens up the possibility of achieving a desired formation and to move a swarm of quadrotors, interacting over ring digraphs, at a desired flight velocity, using a single controller gain. An analysis of achievable velocities is performed. Examples have been provided to offer deeper insights into the obtained analytical results. Simulation studies clearly demonstrate that a desired formation is achieved, starting from arbitrary initial positions, while also ensuring convergence to a final desired flight velocity.

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Sahaya Aarti Dennisselvan, Shashi Ranjan Kumar, Dwaipayan Mukherjee. 2025-12-17. Consensus-based formation of a swarm of quadrotors interacting over ring digraphs. https://arxiv.org/abs/2512.15225

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