8 accepted papers
In this paper, we propose a theoretical framework for designing a multi-robot formation equipped with Ultra-wideband (UWB) sensors to localize a target robot. In the presence of noisy range measurements, the accuracy of the target robot’s pose estimation is highly dependent on the chosen formation g
This paper introduces a novel distributed approach for forming UAV-based multi-hop relay networks by adapting traditional flocking models to create relay chains between remote points. Our method modifies the standard flocking paradigm by incorporating dynamic agent roles, allowing UAVs to self-organ
This work focuses on localizing a single target robot with multi-robot formations in 2D space. The cooperative robots employ inter-robot range measurements to assess the target position. In the presence of noisy measurements, the choice of formation geometries significantly impacts the accuracy of t…
Formation control gains significant attention in the multi-robot system field as it contributes to a vast range of applications, such as transportation. This letter presents a constrained optimization-based control law for cooperative logistics mission, which consists of rigid shape formation contro
Aerial manipulators have great potential in accomplishing a variety of aerial tasks. One class of aerial manipulators, multi-UAV parallel robots, consists of multiple UAVs connected to a payload or an end-effector by passive kinematic chains. The primary limitation of such aerial manipulators is the…
Formation control of multi-agent systems deals with groups of robots forming specific spatial geometries. Combined with the advancements of unmanned aerial vehicles (UAVs) in the past decade, formation control may potentially be applied to tasks such as search-and-rescue, surveillance, even collabor…
This paper presents a fault tolerant approach for a coaxial octorotor regarding rotor failures. A complete architecture including error detection, fault isolation and system recovery is presented. The diagnosis system is designed with a nonlinear observer to generate residuals and an inference model…
This paper presents a fault tolerant control strategy based on an offline control mixing for an octorotor unmanned aerial vehicle (UAV) regarding several rotor failures. This strategy consists of a set of explicit laws, computed offline, each one dedicated to a fault situation. The corresponding law…