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Bearing rigidity maintenance for formations of quadrotor UAVs

Fabrizio Schiano 1 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
Abstract : This paper considers the problem of controlling a formation of quadrotor UAVs equipped with onboard cameras with the goal of maintaining bearing rigidity during motion despite the presence of several sensing constraints, that is, minimum/maximum range, limited camera field of view, and possible occlusions caused by the agents of the formation. To this end, a decentralized gradient-based control action is developed , based on a suitable 'degree of infinitesimal rigidity' linked to the spectral properties of the bearing rigidity matrix. The approach is then experimentally validated with five quadrotor UAVs.
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Fabrizio Schiano, Paolo Robuffo Giordano. Bearing rigidity maintenance for formations of quadrotor UAVs. ICRA 2017 - IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.1467 - 1474, ⟨10.1109/ICRA.2017.7989175⟩. ⟨hal-01482422v2⟩

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