### Bearing-Only Formation Control with Limited Visual Sensing ....

This work solves the bearing-only formation control problem for two agents with limited field-of-view sensing. We propose a bearing-only control strategy for both the position and heading of each agent that guarantees the desired formation is obtained from almost all initial conditions, and ensures that the agents always remain inside the field-of-view of the sensor.

### Bearing-based formation control of a group of agents with ....

[9]. In bearing-based formation control problems, a group of autonomous agents (mobile robots, UAVs) has to achieve a target formation speciﬁed by some bearing information (bearing vectors and/or subtended bearing angles) [10]. A focus of bearing-based formation control is designing decentralized control laws using only bearing information.

### Bearing-Based Formation Control of a Group of Agents With ....

A focus of bearing-based formation control is designing de-centralized control laws using only bearing information. Con-sider a small quadcopter, the relative bearing, which is the unit vector obtained from a relative position vector by normalizing its length, can be acquired from the onboard cameras, thanks to vision-based techniques [6], [11].

### Rigidity Theory in SE(2) for Unscaled Relative Position ....

Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing Measurements Daniel Zelazo, Antonio Franchi, Paolo Robuffo Giordano Abstract—This work considers the problem of estimating the unscaled relative positions of a multi-robot team in a common reference frame from bearing-only measurements. Each robot

### Rigidity theory in SE(2) for unscaled relative position ....

@article{Zelazo2014RigidityTI, title={Rigidity theory in SE(2) for unscaled relative position estimation using only bearing measurements}, author={Daniel Zelazo and Antonio Franchi and Paolo Robuffo Giordano}, journal={2014 European Control Conference (ECC)}, year={2014}, pages={2703-2708 ...

### (PDF) Rigidity theory in SE(2) for unscaled relative ....

Rigidity theory in SE(2) for unscaled relative position estimation using only bearing measurements. 2014 European Control Conference (ECC), 2014. Daniel Zelazo. Download with Google Download with Facebook or download with email. Rigidity theory in SE(2) for unscaled relative position estimation using only bearing measurements. Download.

### Rigidity Theory and Formation Control - Sciencesco...

Rigidity Theory for Multi-agent Systems Meets Parallel Robots / 36 The Formation Control Problem Given a team of robots endowed with the ability to sense relative state information to neighboring robots, design a control for each robot using only local information that asymptotically stabilizes the team to a desired formation shape. 9

### Bearing-only formation control using an SE(2) rigidity ....

Each agent is tasked with maintaining predetermined bearings with their neighbors. Using the recently developed rigidity theory for SE(2) frameworks [1], we propose a gradient-type controller to stabilize the formation. The central construct in the SE(2) rigidity theory for this work is the directed bearing rigidity matrix.

### Rigidity theory in SE(2) for unscaled relative position estimation using only bearing measuremen...

mirror the development of formation rigidity, such as can be found in [21], but for frameworks where each node in the directed graph is mapped to a point in SE(2). We derive a matrix we term the directed bearing rigidity matrix and show that a formation is inﬁnitesimally rigid in SE(2)if and only

### Publications - zelazo.net.technion.ac....

[J4] S. Zhao and D. Zelazo, \Bearing rigidity theory and its applications for control and estimation of network systems: Life beyond distance rigidity," IEEE Control Systems Magazine (submitted), Mar. ... [C12] D. Zelazo, P. Giordano, and A. Franchi, \Bearing-only formation control using an se(2) rigidity theory," in 54th IEEE Conference on ...

### Physical Interpretation of Rigidity for Bearing Formations ....

Research on formation control and cooperative localization for multirobot systems has been an active field over the last years. A powerful theoretical framework for addressing formation control and localization, especially when exploiting onboard sensing, is that of formation rigidity (mainly studied for the cases of distance and bearing measurements).

### Daniel Zelazo - Google Scholar Citatio...

Their combined citations are counted only for the first article. ... Rigidity theory in SE(2) for unscaled relative position estimation using only bearing measurements. D Zelazo, A Franchi, PR Giordano ... Bearing-only formation control using an SE (2) rigidity theory. D Zelazo, PR Giordano, A Franchi.

### Projet de Recherche Lagadic - INRIA Renn...

L'équipe Lagadic est un projet de recherche de l'INRIA (Institut National de Recherche en Automatique et Informatique) situé à Rennes, France. Ses axes de recherche concernent la vision robotique et l'asservissement visuel.

### Bearing-Only Formation Control Using an SE(2) Rigidity Theo...

Bearing-Only Formation Control Using an SE (2) Rigidity Theory Daniel Zelazo, Paolo Robuffo Giordano, Antonio Franchi Abstract This paper considers a formation control problem for a team of agents that are only able to sense the relative bearings from their local body frame to neighboring agents. It

### [1311.1044] Rigidity Theory in SE(2) for Unscaled Relative ....

Title: Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing ... the problem of estimating the unscaled relative positions of a multi-robot team in a common reference frame from bearing-only measurements. Each robot has access to a relative bearing measurement taken from the local body frame of the robot, and the ...

### Bearing rigidity and formation stabilization for multiple ....

D. Zelazo, A. Franchi and P. R. Giordano, Rigidity theory in SE (2) for unscaled relative position estimation using only bearing measurements, in 2014 13nd European Control Conference, (2014), ... Bearing-only formation control using an SE (2) rigidity theory, in 2015 54th IEEE Conference on Decision and Control, (2015), 6121-6126.

### CO...

Each agent is tasked with maintaining predetermined bearings with their neighbors. Using the recently developed rigidity theory for SE(2) frameworks [1], we propose a gradient-type controller to stabilize the formation. The central construct in the SE(2) rigidity theory for this work is the directed bearing rigidity matrix.

### Bearing-Only Formation Control Using an SE(2) Rigidity Theo...

preprint version 2015 54th IEEE Conference on Decision and Control, Osaka, Japan Bearing-Only Formation Control Using an SE(2) Rigidity Theory Daniel Zelazo, Paolo Robuffo Giordano, Antonio Franchi2;3 Abstract—This paper considers a formation control problem

### Mathematical Background | SpringerLi...

The theory of formation control of distributed agents is developed on the base of mathematical concepts from graph theory. ... A., Giordano, P.R.: Rigidity theory in SE(2) for unscaled relative position estimation using only bearing measurements. ... Zelazo, D.: Bearing rigidity and almost global bearing-only formation stabilization. IEEE Trans ...

### CiteSeerX — preprint version 2015 54th IEEE Conference on ....

Using the recently developed rigidity theory for SE(2) frameworks, we propose a gradient-type controller to stabilize the formation. Rigidity in SE(2) is an extension of the classical rigidity theory for frameworks that are embedded in the special Euclidean group SE(2) = R2 × S1.

### Bearing Rigidity and Almost Global Bearing-Only Formation ....

This is a repository copy of Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization..