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

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

doi:10.1109/IROS.2016.7759748

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 proceeding › Conference contribution › Academic › peer-review

62 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 language	English
Title of host publication	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	5099-5106
Number of pages	8
ISBN (Electronic)	978-1-5090-3762-9
ISBN (Print)	978-1-5090-3763-6, 978-1-5090-3761-2
DOIs	https://doi.org/10.1109/IROS.2016.7759748
Publication status	Published - 28 Nov 2016
Externally published	Yes
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016 http://www.iros2016.org/

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE
Volume	2016
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated title	IROS
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16
Internet address	http://www.iros2016.org/

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10.1109/IROS.2016.7759748

Cite this

Schiano, F., Franchi, A., Zelazo, D., & Giordano, P. R. (2016). A rigidity-based decentralized bearing formation controller for groups of quadrotor UAVs. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) (pp. 5099-5106). Article 7759748 (IEEE International Conference on Intelligent Robots and Systems (IROS); Vol. 2016). IEEE. https://doi.org/10.1109/IROS.2016.7759748

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title = "A rigidity-based decentralized bearing formation controller for groups of quadrotor UAVs",

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.",

author = "Fabrizio Schiano and Antonio Franchi and Daniel Zelazo and Giordano, {Paolo Robuffo}",

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Schiano, F, Franchi, A, Zelazo, D & Giordano, PR 2016, A rigidity-based decentralized bearing formation controller for groups of quadrotor UAVs. in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)., 7759748, IEEE International Conference on Intelligent Robots and Systems (IROS), vol. 2016, IEEE, Piscataway, NJ, pp. 5099-5106, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759748

A rigidity-based decentralized bearing formation controller for groups of quadrotor UAVs. / Schiano, Fabrizio; Franchi, Antonio; Zelazo, Daniel et al.
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016). Piscataway, NJ: IEEE, 2016. p. 5099-5106 7759748 (IEEE International Conference on Intelligent Robots and Systems (IROS); Vol. 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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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.

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Schiano F, Franchi A, Zelazo D, Giordano PR. A rigidity-based decentralized bearing formation controller for groups of quadrotor UAVs. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016). Piscataway, NJ: IEEE. 2016. p. 5099-5106. 7759748. (IEEE International Conference on Intelligent Robots and Systems (IROS)). doi: 10.1109/IROS.2016.7759748

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

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