A rigidity-based decentralized bearing formation controller for groups of quadrotor UAVs

Fabrizio Schiano, Antonio Franchi, Daniel Zelazo, Paolo Robuffo Giordano

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

31 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages5099-5106
Number of pages8
ISBN (Electronic)978-1-5090-3762-9
ISBN (Print)978-1-5090-3763-6, 978-1-5090-3761-2
DOIs
Publication statusPublished - 28 Nov 2016
Externally publishedYes
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016
http://www.iros2016.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Volume2016
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated titleIROS
CountryKorea, Republic of
CityDaejeon
Period9/10/1614/10/16
Internet address

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