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Uploaded on May 10, 2010
3 quadrotor UAVs are commanded to fly in a circular formation while keeping a constant heading angle. A sudden loss of thrust in one of the propellers of one of the vehicles occurs.
In the nominal inner loop/nominal outer loop case, the failure causes the quadrotor in the foreground to go directly underneath the trailing quadrotor. On the way back into formation, the failed quadrotor collides with another vehicle.
In adaptive case, the failure is quickly accounted for, and the other vehicles slow down and even reverse course to allow space for the failed vehicle to recover.