R. Olfati-saber, J. A. Fax, and R. M. Murray, Consensus and Cooperation in Networked Multi-Agent Systems, Proc. of the IEEE, pp.215-233, 2007.
DOI : 10.1109/JPROC.2006.887293

J. Cortés, Global and robust formation-shape stabilization of relative sensing networks, Automatica, vol.45, issue.12, pp.2754-2762, 2009.
DOI : 10.1016/j.automatica.2009.09.019

E. Montijano, D. Zhou, M. Schwager, and C. Sagues, Distributed formation control without a global reference frame, 2014 American Control Conference, pp.3862-3867, 2014.
DOI : 10.1109/ACC.2014.6859235

B. D. Anderson, Y. Changbin, B. Fidan, and J. Hendrickx, Rigid graph control architectures for autonomous formations, IEEE Control Systems Magazine, vol.28, issue.6, pp.48-63, 2008.
DOI : 10.1109/MCS.2008.929280

L. Krick, M. E. Broucke, and B. A. Francis, Stabilisation of infinitesimally rigid formations of multi-robot networks, International Journal of Control, vol.34, issue.3, pp.423-439, 2009.
DOI : 10.2307/1969908

H. Garcia-de-marina, M. Cao, and B. Jayawardhana, Controlling Rigid Formations of Mobile Agents Under Inconsistent Measurements, IEEE Transactions on Robotics, vol.31, issue.1, pp.31-39, 2015.
DOI : 10.1109/TRO.2014.2373145

D. Zelazo, A. Franchi, H. H. Bülthoff, and P. Giordano, Decentralized rigidity maintenance control with range measurements for multi-robot systems, The International Journal of Robotics Research, vol.46, issue.2, pp.105-128, 2015.
DOI : 10.1177/0278364914546173

URL : https://hal.archives-ouvertes.fr/hal-01076423

A. N. Bishop, I. Shames, and B. D. Anderson, Stabilization of rigid formations with direction-only constraints, IEEE Conference on Decision and Control and European Control Conference, pp.746-752, 2011.
DOI : 10.1109/CDC.2011.6160743

T. Eren, Formation shape control based on bearing rigidity, International Journal of Control, vol.145, issue.9, pp.1361-1379, 2012.
DOI : 10.1016/j.automatica.2006.08.025

A. Franchi and P. Giordano, Decentralized control of parallel rigid formations with direction constraints and bearing measurements, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC), pp.5310-5317, 2012.
DOI : 10.1109/CDC.2012.6426034

A. Cornejo, A. J. Lynch, E. Fudge, S. Bilstein, M. Khabbazian et al., Scale-free coordinates for multi-robot systems with bearing-only sensors, The International Journal of Robotics Research, vol.197, issue.2, pp.1459-1474, 2013.
DOI : 10.1109/IROS.2003.1249745

S. Zhao and D. Zelazo, Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization, IEEE Transactions on Automatic Control, vol.61, issue.5, pp.1255-1268, 2016.
DOI : 10.1109/TAC.2015.2459191

T. Eren, Using angle of arrival (bearing) information for localization in robot networks, Turkish J. of Elec. Eng. & Comput. Sci, vol.15, issue.2, pp.169-186, 2007.

G. C. Calafiore, L. Carlone, and M. Wei, A distributed gradient method for localization of formations using relative range measurements, 2010 IEEE International Symposium on Computer-Aided Control System Design, pp.1146-1151, 2010.
DOI : 10.1109/CACSD.2010.5612764

I. Shames, A. N. Bishop, and B. D. Anderson, Analysis of Noisy Bearing-Only Network Localization, IEEE Transactions on Automatic Control, vol.58, issue.1, pp.247-252, 2013.
DOI : 10.1109/TAC.2012.2206693

R. Tron, L. Carlone, F. Dellaert, and K. Daniilidis, Rigid components identification and rigidity enforcement in bearing-only localization using the graph cycle basis, ACC, pp.3911-3918, 2015.

A. Franchi, C. Masone, V. Grabe, M. Ryll, H. H. Bülthoff et al., Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering, Special Issue on 3D Exploration, Mapping, and Surveillance, pp.1504-1525, 2012.
DOI : 10.1109/TRO.2012.2196304

D. Zelazo, P. Giordano, and A. Franchi, Bearing-only formation control using an SE(2) rigidity theory, 2015 54th IEEE Conference on Decision and Control (CDC), pp.6121-6126, 2015.
DOI : 10.1109/CDC.2015.7403182

URL : https://hal.archives-ouvertes.fr/hal-01187978

C. D. Godsil and G. Royle, Algebraic Graph Theory, 2001.
DOI : 10.1007/978-1-4613-0163-9

T. Eren, W. Whiteley, A. S. Morse, P. N. Belhumeur, and B. D. Anderson, Sensor and network topologies of formations with direction, bearing and angle information between agents, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475), pp.3064-3069, 2003.
DOI : 10.1109/CDC.2003.1273093

D. Zelazo, A. Franchi, and P. Giordano, Rigidity theory in SE(2) for unscaled relative position estimation using only bearing measurements, 2014 European Control Conference (ECC), pp.2703-2708, 2014.
DOI : 10.1109/ECC.2014.6862558

URL : https://hal.archives-ouvertes.fr/hal-00994989

P. Yang, R. A. Freeman, G. J. Gordon, K. M. Lynch, S. S. Srinivasa et al., Decentralized estimation and control of graph connectivity for mobile sensor networks, Automatica, vol.46, issue.2, pp.390-396, 2010.
DOI : 10.1016/j.automatica.2009.11.012

P. R. Giordano, A. Franchi, C. Secchi, and H. H. Bülthoff, A passivity-based decentralized strategy for generalized connectivity maintenance, The International Journal of Robotics Research, vol.54, issue.6, pp.299-323, 2013.
DOI : 10.1177/0278364912469671

URL : https://hal.archives-ouvertes.fr/hal-00910385

R. A. Freeman, P. Yang, and K. M. Lynch, Stability and Convergence Properties of Dynamic Average Consensus Estimators, Proceedings of the 45th IEEE Conference on Decision and Control, pp.338-343, 2006.
DOI : 10.1109/CDC.2006.377078

A. De-luca, G. Oriolo, and P. Giordano, Feature Depth Observation for Image-based Visual Servoing: Theory and Experiments, The International Journal of Robotics Research, vol.27, issue.10, pp.1093-1116, 2008.
DOI : 10.1177/0278364908096706

R. Spica, P. Giordano, and F. Chaumette, Active Structure From Motion: Application to Point, Sphere, and Cylinder, IEEE Transactions on Robotics, vol.30, issue.6, pp.1499-1513, 2014.
DOI : 10.1109/TRO.2014.2365652

URL : https://hal.archives-ouvertes.fr/hal-01086866

R. Spica and P. Giordano, Active decentralized scale estimation for bearing-based localization, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
DOI : 10.1109/IROS.2016.7759746

URL : https://hal.archives-ouvertes.fr/hal-01355789

V. Grabe, M. Riedel, H. H. Bulthoff, P. R. Giordano, and A. Franchi, The TeleKyb framework for a modular and extendible ROS-based quadrotor control, 2013 European Conference on Mobile Robots, pp.19-25, 2013.
DOI : 10.1109/ECMR.2013.6698814

URL : https://hal.archives-ouvertes.fr/hal-00908803