@conference {2012i-FraRob,
	title = {Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements},
	booktitle = {51th IEEE Conference on Decision and Control },
	year = {2012},
	month = {12/2012},
	pages = {5310-5317},
	address = {Maui, HI},
	abstract = {In this paper we analyze the relationship between scalability, minimality and rigidity, and its application to cooperative control. As a case study, we address the problem of multi-agent formation control by proposing a distributed control strategy that stabilizes a formation described with bearing (direction) constraints, and that only requires bearing measurements and parallel rigidity of the interaction graph. We also consider the possibility of having different graphs modeling the interaction network in order to explicitly take into account the conceptual difference between sensing, communication, control, and parameters stored in the network. We then show how the information can be {\textquoteleft}moved{\textquoteright} from a graph to another making use of decentralized estimation, provided the parallel rigidity property. Finally we present simulative examples in order to show the validity of the theoretical analysis in some illustrative cases.},
	keywords = {Decentralized control, Distributed algorithms, Estimation, Formation control, Motion control of multiple robots, Multi-robot systems},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012i-FraRob-preprint.pdf},
	author = {Antonio Franchi and Paolo Robuffo Giordano}
}
@conference {2011e-RobFraSecBue,
	title = {Bilateral Teleoperation of Groups of UAVs with Decentralized Connectivity Maintenance},
	booktitle = {2011 Robotics: Science and Systems Conference},
	year = {2011},
	month = {06/2011},
	address = {Los Angeles, CA},
	abstract = {In this paper, we present a decentralized passivity-based control strategy for the bilateral teleoperation of a fleet of Unmanned Aerial Vehicles (UAVs). The human operator at the master side can command the fleet motion and receive suitable force cues informative about the remote environment. By properly controlling the energy exchanged within the slave side (the UAV fleet), we guarantee that the connectivity of the fleet is preserved and we prevent inter-agent and obstacle collisions. At the same time, we allow the behavior of the UAVs to be as flexible as possible with arbitrary split and join maneuvers. The results of the paper are validated through semi-experiments.},
	keywords = {Bilateral Shared Control of Mobile Robots, Connectivity maintenance, Decentralized control, Distributed algorithms, Estimation, Force feedback, Haptics, Multi-robot systems, Teleoperation},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011e-RobFraSecBue-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011e-RobFraSecBue-almost_preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011e-RobFraSecBue.mp4},
	author = {Paolo Robuffo Giordano and Antonio Franchi and Cristian Secchi and Heinrich H. B{\"u}lthoff}
}
