Publications

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2012
D. Zelazo, Franchi, A., Allgöwer, F., Bülthoff, H. H., and Robuffo Giordano, P., “Rigidity Maintenance Control for Multi-Robot Systems”, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012.PDF icon preprint-pdf (2.47 MB)
2014
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.PDF icon arXiv-pdf-v3-last-version (4.19 MB)
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.PDF icon preprint-pdf (410.91 KB)
2015
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.PDF icon preprint-pdf (1.61 MB)
2016
F. Schiano, Franchi, A., Zelazo, D., and Robuffo Giordano, P., “A Rigidity-Based Decentralized Bearing Formation Controller for Groups of Quadrotor UAVs”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 5099-5106.PDF icon preprint-pdf (2.99 MB)File video (4.05 MB)