Underactuated Control of Quadrotors with Collision Avoidance*

In this paper a saturated controller is derived that solves the translational control problem for underactuated quadrotors. The controller is applied to multiple quadrotors during a formation reconfiguration where the quadrotors move from an initial position to a desired position. The null-space-based behavioral control method is a popular method for avoiding collisions between mobile agents, and is augmented in this paper with saturation functions to enable feasible collision-free trajectories for the quadrotors during the reconfiguration. Simulations have been performed to validate the theoretical results and show the performance of the solution.