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Outdoor co-operative control of multiple quadcopters using decentralized GPS localisation

The implementation of co-operative outdoor navigation and control of a team of quadcopters, using GPS-based localization is presented. A testbed of quadcopters is indigenously developed using commercial off-the-shelf components. In this article, the complete design process based on open source hardware (ArduPilot Mega) and software (AeroQuad) is documented, which includes the structure of the autopilot, control structure for various autonomous modes, and the integration of the fully distributed navigation algorithms. Our experiments reported here achieve completely decentralised and autonomous outdoor co-operative flights using solely open source components.