  The paper focuses on modeling and experimental evaluation of a quadcopter
team configurable coordination guided by a single quadruped robot. We consider
the quadcopter team as particles of a two-dimensional deformable body and
propose a two-dimensional affine transformation model for safe and
collision-free configurable coordination of this heterogeneous robotic system.
The proposed affine transformation is decomposed into translation, that is
specified by the quadruped global position, and configurable motion of the
quadcopters, which is determined by a nonsingular Jacobian matrix so that the
quadcopter team can safely navigate a constrained environment while avoiding
collision. We propose two methods to experimentally evaluate the proposed
heterogeneous robot coordination model. The first method measures real
positions of quadcopters, quadruped, and environmental objects all with respect
to the global coordinate system. On the other hand, the second method measures
position with respect to the local coordinate system fixed on the dog robot
which in turn enables safe planning the Jacobian matrix of the quadcopter team
while the world is virtually approached the robotic system.
