Bearing-only control of multiple robots in 3D


These videos show both hardware-in-the-loop simulations and real experiments of a control method that allows a group of mobile robots (e.g., quadrotors) to achieve the desired formation only resorting to bearing (angles) measurements, like the ones that are retrievable from an on-board camera.

See [1],[2] for more information about the method.

See also the Motion control of multiple robots for an overview on the topic.


  1. 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.
  2. A. Franchi, Masone, C., Bülthoff, H. H., and Robuffo Giordano, P., 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.