An Introduction to Formation Control of UAV with Vicon System

  • Yangguang Yu
  • Zhihong Liu
  • Xiangke WangEmail author
Conference paper
Part of the EAI/Springer Innovations in Communication and Computing book series (EAISICC)


As a first step towards fully distributed formation control for a large swarm, we exhibit a distributed flight demo with three quadcopters under Vicon motion capture system. In this paper, hardware setup of system and a decentralized software architecture are introduced. Then, in order to validate the system, we design an experiment in which three quadcopters circle around a fixed point coordinately by using the consensus protocol. Finally, some flight data are reported and analyzed.


Formation control Vicon system System architecture 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.College of Mechatronics and AutomationNational University of Defense TechnologyChangshaP. R. China

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