Motion control of multiple robots
A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance
, “A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance”, The International Journal of Robotics Research, vol. 32, no. 3, pp. 299-323, 2013.Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots
, “Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots”, in Trends in Control and Decision-Making for Human-Robot Collaboration Systems, Springer, 2017, pp. 301-324.Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles
, “Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles”, IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics, vol. 18, no. 4, pp. 1334-1345, 2013.Bearing Rigidity Theory in SE(3)
, “Bearing Rigidity Theory in SE(3)”, in 55th IEEE Conference on Decision and Control, Las Vegas, NV, 2016, pp. 5950-5955.Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs
, “Intercontinental Haptic Control and Advanced Supervisory Interfaces for Groups of Multiple UAVs”, 5th Int. Work. on Human-Friendly Robotics. Bruxelles, Belgium, 2012.Multi-Robot Path Planning with Maintenance of Generalized Connectivity
, “Multi-Robot Path Planning with Maintenance of Generalized Connectivity”, in The 1st Int. Symp. on Multi-Robot and Multi-Agent Systems, Los Angeles, CA, 2017.Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots
, “Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots”, Autonomous Robots, vol. 41, no. 4, pp. 989-1011, 2017.Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs
, “Communication-based and Communication-less approaches for Robust Cooperative Planning in Construction with a Team of UAVs”, in 2020 Int. Conf. on Unmanned Aircraft Systems, Athens, Greece, 2020.Multi-target Simultaneous Exploration with Continual Connectivity
, “Multi-target Simultaneous Exploration with Continual Connectivity”, 2th Int. Work. on Crossing the Reality Gap - From Single to Multi- to Many Robot Systems, at 2013 IEEE Int. Conf. on Robotics and Automation. Karlsruhe, Germany, 2013.Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs
, “Motor-level N-MPC for Cooperative Active Perception with Multiple Heterogeneous UAVs”, IEEE Robotics and Automation Letters, vol. 7, pp. 2063-2070, 2022.Distributed Target Localization and Encirclement with a Multi-robot System
, “Distributed Target Localization and Encirclement with a Multi-robot System”, in 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010.Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance
, “Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance”, Autonomous Robots, vol. 40, no. 2, pp. 245-265, 2016.A Randomized Strategy for Cooperative Robot Exploration
, “A Randomized Strategy for Cooperative Robot Exploration”, in 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007, pp. 768-774.Human-assisted Parallel Multi-target Visiting in a Connected Topology
, “Human-assisted Parallel Multi-target Visiting in a Connected Topology”, 6th Int. Work. on Human-Friendly Robotics. Rome, Italy, 2013.Decentralized Methods for Cooperative Task Execution in Multi-robot Systems
, “Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems
, “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.A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology
, “A Passivity-Based Decentralized Approach for the Bilateral Teleoperation of a Group of UAVs with Switching Topology”, in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011, pp. 898-905.Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand
, “Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand”, RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, Germany, 2013.Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization
, “Experiments of Passivity-Based Bilateral Aerial Teleoperation of a Group of UAVs with Decentralized Velocity Synchronization”, in 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 163-170.The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation
, “The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation”, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 4335-4341.Bilateral Teleoperation of Multiple UAVs with Decentralized Bearing-only Formation Control
, “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.Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing
, “Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 2703-2708.Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology
, “Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology”, IEEE Transaction on Robotics, vol. 28, no. 5, pp. 1019 -1033, 2012.Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs
, “Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 1902-1908.Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology
, “Bilateral Teleoperation of a Group of UAVs with Communication Delays and Switching Topology”, in 2012 IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements
, “Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 5517-5522.Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering
, “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.Bearing-Only Formation Control Using an SE(2) Rigidity Theory
, “Bearing-Only Formation Control Using an SE(2) Rigidity Theory”, in 54rd IEEE Conference on Decision and Control, Osaka, Japan, 2015, pp. 6121-6126.Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs.
, “Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs.”, IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform, vol. 19, no. 3, pp. 57-68, 2012.Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators
, “Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators”, in 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, 2016, pp. 441-446.Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements
, “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.Distributed Estimation of State and Parameters in Multi-Agent Cooperative Manipulation
, “Distributed Estimation of State and Parameters in Multi-Agent Cooperative Manipulation”, IEEE Trans. on Control of Network Systems, vol. 6, no. 2, pp. 690-701, 2019.
Consider the problem of localizing and encircling a target using a multi-robot system. This kind of task is interesting in view of the large number of potential applications, among which we mention observation (retrieve and merge data about an object from different viewpoints), escorting (protect a member of the system from unfriendly agents) and entrapment (prevent the motion of an alien object).
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. 
