Autonomous Close Formation Flight Control with Fixed Wing and Quadrotor Test Beds

Table 4

Quadrotor minimum requirements.

VTOL controller minimum requirements
Index	Goal	Weight
NEO1.	OS% < 50%	1
NEO2.	< 10 s	1
NEO3.	< 5 s	1
NEO4.	< 5 cm for stationary formation (step response)	1
NEO5.	< 100 cm for dynamic formation (ramp response)	1
Score	See (24)