"It's hard to say but surely interests me. Let me know if you have any thoughts on it and congratulations to your successful graduation!"

"Hi Garcia,
Thank you for your quick response. I think I get what you mean. We modeled the quad as point mass and from the formation control law we get desired acceleration that turns out to become a feedforward desired attitude for quad to track.…"

"Hi good work but I wonder if your control law only gives the desired acceleration and no desired position and velocity computed for each individual quad. I ask this because in practice, maybe controlling the acceleration is often hard to get good…"