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A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs

Fabrizio Schiano 1 Antonio Franchi 2 Daniel Zelazo 3 Paolo Robuffo Giordano 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
2 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This paper considers the problem of controlling a formation of quadrotor UAVs equipped with onboard cameras able to measure relative bearings in their local body frames w.r.t. neighboring UAVs. The control goal is twofold: (i) steering the agent group towards a formation defined in terms of desired bearings, and (ii) actuating the group motions in the 'null-space' of the current bearing formation. The proposed control strategy relies on an extension of the rigidity theory to the case of directed bearing frameworks in R^3 × S^1. This extension allows to devise a decentralized bearing controller which, unlike most of the present literature, does not need presence of a common reference frame or of reciprocal bearing measurements for the agents. Simulation and experimental results are then presented for illustrating and validating the approach.
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Contributor : Antonio Franchi <>
Submitted on : Monday, July 25, 2016 - 10:40:14 AM
Last modification on : Thursday, January 7, 2021 - 4:40:18 PM


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  • HAL Id : hal-01348543, version 1


Fabrizio Schiano, Antonio Franchi, Daniel Zelazo, Paolo Robuffo Giordano. A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Oct 2016, Daejeon, South Korea. pp.5099-5106. ⟨hal-01348543⟩



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