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.
Type de document :
Communication dans un congrès
ICRA 2017 - IEEE International Conference on Robotics and Automation, May 2017, Singapore, Singapore. pp.1467 - 1474, 2017, 〈http://www.icra2017.org/〉. 〈10.1109/ICRA.2017.7989175〉
Liste complète des métadonnées

Littérature citée [25 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01482422
Contributeur : Fabrizio Schiano <>
Soumis le : dimanche 13 août 2017 - 19:56:35
Dernière modification le : vendredi 12 janvier 2018 - 01:49:47

Fichier

ICRA17_0837_FI.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

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, 2017, 〈http://www.icra2017.org/〉. 〈10.1109/ICRA.2017.7989175〉. 〈hal-01482422v2〉

Partager

Métriques

Consultations de la notice

153

Téléchargements de fichiers

52