Wrapping up more results from my thesis. In this video I show how with a single (guidance) control law a team of drones can intercept an independent target. The team is able to estimate the unknown velocity of the target and to orbit around it with a prescribed shape. The main idea behind is about exploiting (controlled) discrepancies to the distances that the drones want to maintain between each other.
The algorithm sets the accelerations to be tracked by the drone. This is accomplished by just controlling the corresponding attitude angles. The only information needed by the algorithm is just the relative positions (in arbitrary frame of coordinates) between neighboring drones, i.e. there are not relative or absolute velocities involved.
I still have to edit some videos more, next time I will choose happier music :P.