In these works we address the problem of controlling a group of robots using only bearing measurements, e.g., the measurements that one could obtain directly from onboard cameras. First we conduct a detailed theoretical analysis and then we present an extensive simulative and experimental work with multiple quadrotor UAVs.
Please refer to the following works for an exhaustive overview about this research topic: [1], [2], [3].
See also the related video page.
References
- , “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.
- , “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.
- , “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.