These videos show both hardware-in-the-loop simulations and real experiments of a control method that allows a group of mobile robots (e.g., quadrotors) to achieve the desired formation only resorting to bearing (angles) measurements, like the ones that are retrievable from an on-board camera.
See also the Motion control of multiple robots for an overview on the topic.
- , “Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering”, The International Journal of Robotics Research, Special Issue on 3D Exploration, Mapping, and Surveillance, vol. 31, no. 12, pp. 1504-1525, 2012.
- , “Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-only Formation Control”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 2215-2222.