ICRA 2017poster49 citations
Bearing rigidity maintenance for formations of quadrotor UAVs
Fabrizio Schiano, Paolo Robuffo Giordano
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.
BibTeX
@inproceedings{icra2017_bearingrigiditym,
title = {Bearing rigidity maintenance for formations of quadrotor UAVs},
author = {Fabrizio Schiano and Paolo Robuffo Giordano},
booktitle = {ICRA 2017},
year = {2017}
}