Behzad Shirani - Electrical & Computer engineering Department, Isfahan University of Technology, Isfahan, IRAN
Majdeddin Najafi - Avionics Research Institute, Isfahan University of Technology, Isfahan, IRAN
Iman Izadi - Electrical & Computer engineering Department, Isfahan University of Technology, Isfahan, IRAN

This paper presents a strategy for cooperative load transportation using multiple quadrotors. This is useful when the maximum thrust of single quadrotor is not enough for loadtransportation or when more redundancy is required for safety. A Modified Leader-Follower (MLF) structure is consideredfor formation control of multiple quadrotors. The model of quadrotors are assumed as double integral. The LQR consensus algorithm is applied for quadrotors guidance, which waspresented before for mobile robots with double integral models in 2 dimensions. In this work, the effect of common suspendedload from a group of quadrotors is investigated. Moreover, the ability of the LQR consensus algorithm is surveyed when one ofthe connections between the load and a quadrotor is cut. Finally a simulation example is presented to confirm the effectiveness of this method for cooperative load transformation.

multi-agent systems; flocking; load transportation;consensus algorithm; quadrotor