Rigidity and Rigidity maintenance

Rigidity is a crucial concept in multi-robot control and estimation.

I have been investigating this aspect from different perspectives, have a look to the following list of publications for more details:
[1] and [2] (rigidity maintenance),
[3], [4] and [2] (bearing-rigidity control),
[5] (rigidity in aerial robot control).

References

  1. D. Zelazo, Franchi, A., Bülthoff, H. H., and Robuffo Giordano, P., “Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems”, The International Journal of Robotics Research, vol. 34, no. 1, pp. 105-128, 2014.
  2. D. Zelazo, Franchi, A., and Robuffo Giordano, P., “Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 2703-2708.
  3. A. Franchi and Robuffo Giordano, P., “Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements”, in 51th IEEE Conference on Decision and Control , Maui, HI, 2012, pp. 5310-5317.
  4. D. Zelazo, Robuffo Giordano, P., and Franchi, A., “Bearing-Only Formation Control Using an SE(2) Rigidity Theory”, in 54rd IEEE Conference on Decision and Control, Osaka, Japan, 2015, pp. 6121-6126.
  5. A. Franchi, Masone, C., Grabe, V., Ryll, M., Bülthoff, H. H., and Robuffo Giordano, P., “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.

Research Topics: