Predictive Control and Stabilization of a Formation of Quadrotors Filming in Dark Conditions

The aim of this work is to design the system for autonomous stabilization of a formation of multi-rotor helicopters for the cooperative Ąlming in dark conditions. The leader-follower approach and the model predictive control on receding horizon are applied for this purpose. The formation consists of one multi-rotor helicopter carrying a camera and the arbitrary number of multi-rotors carrying light sources. The leaderfollower scheme is proposed in the way, that it is suitable for two lighting techniques Three point lighting and Strong side lighting. The proposed system also deals with the collision avoidance and take into account other constraints to provide feasible trajectories and good quality of acquired videos or photos. The system and its modiĄcations, which are also presented in this work, are veriĄed in numerous simulation experiments and one real experiment conducted in modeled outdoor environment.