LMI -based formation control with collision avoidance for air-ground fleet

This paper proposes a formation controller for a fleet composed of two unicycles and a quadcopter. The formation problem is defined as a min-max problem whose optimal control strategy is linear in the local measurements of each agent, and the matrix gains are obtained by solving a Linear Matrix Inequality. Artificial repulsive forces are added to avoid inter-agent collisions and obstacles. The proposed control scheme was validated both in simulation and through several experiments, involving both static and dynamic obstacles. The results show that the agents can achieve the formation without crashes.