• collaborative
• coordinated
• fleet
• heterogeneous
• mas
• payload
• rendezvous
• smms
• teleoperated
• teleoperation
• uav

This thesis addresses the design and implementation of a single-master multi-slave (SMMS) au-
tonomous system, focusing on a fleet of heterogeneous unmanned aerial vehicles (UAVs) tasked
with transporting a payload in response to human teleoperation input.
Centralized interaction with the external environment is managed by a designated leader UAV,
which handles communication with the operator and coordinates each phase of the task, from
synchronization to formation control.
The fleet employs consensus-based algorithms to converge at the payload’s location and maintain
a formation during its transport through the environment. Additionally, a collision-avoidance
mechanism based on artificial potential fields ensures safe maneuvering.
The flexibility of the developed framework, along with its scalable design, allows for seam-
less adaptation to a wide variety of applications, both in terms of task complexity and system
configuration.