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 | |
| 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 |