@conference {2016m-SchFraZelRob,
	title = {A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs},
	booktitle = {2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System},
	year = {2016},
	month = {10/2016},
	pages = {5099-5106},
	address = {Daejeon, South Korea},
	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 {\textquoteleft}null-space{\textquoteright} 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 3{\texttimes}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.},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2016m-SchFraZelRob-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2016m-SchFraZelRob.mp4},
	author = {Fabrizio Schiano and Antonio Franchi and Daniel Zelazo and Paolo Robuffo Giordano}
}
