Our objective in this work is to develop, implement and test autonomous cooperative control algorithm on Quadrotor UAVs. For this purpose, we mainly utilize state-of-the-art nonlinear model predictive control technique for optimal flight (altitude and attitude) control of our drones. Our platform is Parrot AR.Drone 2.0 and we use MATLAB Simulink in order to program the onboard hardware. Camera tracking system is employed for the purpose of positioning and other onboard sensors, e.g. ultrasonic sensors, cameras, gyroscope and IMU, provide state feedback to the NMPC controller.
