  This paper experimentally evaluates continuum deformation cooperative control
for the first time. Theoretical results are expanded to place a bounding
triangle on the leader-follower system such that the team is contained despite
nontrivial tracking error. Flight tests were conducted with custom quadrotors
running a modified version of ArduPilot on a BeagleBone Blue in M-Air, an
outdoor netted flight facility. Motion capture and an onboard inertial
measurement unit were used for state estimation. Position error was
characterized in single vehicle tests using quintic spline trajectories and
different reference velocities. Five-quadrotor leader trajectories were
generated, and followers executed the continuum deformation control law
in-flight. Flight tests successfully demonstrated continuum deformation; future
work in characterizing error propagation from leaders to followers is
discussed.
