TY - GEN
T1 - A rigidity-based decentralized bearing formation controller for groups of quadrotor UAVs
AU - Schiano, Fabrizio
AU - Franchi, Antonio
AU - Zelazo, Daniel
AU - Giordano, Paolo Robuffo
N1 - Publisher Copyright: © 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - 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 'nullspace' 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×S1. 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.
AB - 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 'nullspace' 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×S1. 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.
UR - http://www.scopus.com/inward/record.url?scp=85006365413&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759748
DO - 10.1109/IROS.2016.7759748
M3 - منشور من مؤتمر
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5099
EP - 5106
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -