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Conference Papers Year : 2017

Bearing rigidity maintenance for formations of quadrotor UAVs

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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Dates and versions

hal-01482422 , version 1 (03-03-2017)
hal-01482422 , version 2 (13-08-2017)

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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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