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Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles
 IEEE/ASME TRANSACTIONS ON MECHATRONICS
, 2013
"... HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte p ..."
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Cited by 17 (15 self)
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HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et a ̀ la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.
A Passivitybased decentralized strategy for generalized connectivity maintenance
 International Journal of Robotics Research
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Decentralized Control of Parallel Rigid Formations with Direction Constraints and Bearing Measurements
"... 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 multiagent formation control by proposing a distributed control strategy that stabilizes a formation described wi ..."
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Cited by 7 (3 self)
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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 multiagent 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 ‘moved ’ 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. I.
Necessary conditions for the generic global rigidity of frameworks on surfaces
, 2013
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Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing Measurements
"... Abstract — This work considers the problem of estimating the unscaled relative positions of a multirobot team in a common reference frame from bearingonly measurements. Each robot has access to a relative bearing measurement taken from the local body frame of the robot, and the robots have no know ..."
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Cited by 2 (1 self)
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Abstract — This work considers the problem of estimating the unscaled relative positions of a multirobot team in a common reference frame from bearingonly measurements. Each robot has access to a relative bearing measurement taken from the local body frame of the robot, and the robots have no knowledge of a common reference frame. An extension of rigidity theory is made for frameworks embedded in the special Euclidean group SE(2) = R2 ×S1. We introduce definitions describing rigidity for SE(2) frameworks and provide necessary and sufficient conditions for when such a framework is infinitesimally rigid in SE(2). We then introduce the directed bearing rigidity matrix and show that an SE(2) framework is infinitesimally rigid if and only if the rank of this matrix is equal to 2V  − 4, where V  is the number of agents in the ensemble. The directed bearing rigidity matrix and its properties are then used in the implementation and convergence proof of a distributed estimator to determine the unscaled relative positions in a common frame. Simulation results are given to support the analysis. I.
1Decentralized Rigidity Maintenance Control with Rangeonly Measurements for MultiRobot Systems
"... Abstract—This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multirobot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first contribution of this work is the new concept of weig ..."
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Abstract—This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multirobot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first contribution of this work is the new concept of weighted frameworks and rigidity, and of the rigidity eigenvalue, which when positive ensures the infinitesimal rigidity of a weighted framework. We then propose a distributed algorithm for estimating a common relative position reference frame amongst a team of robots with only range measurements. This first estimation step is embedded into a subsequent distributed algorithm for estimating the rigidity eigenvalue associated with the weighted framework. The estimate of the rigidity eigenvalue is finally used to generate a local control action for each agent that both maintains the rigidity property and enforces additional constraints such as collision avoidance and sensing/communication range limits and occlusions. As an additional feature of our approach, the communication and sensing links among the robots are also left free to change over time while preserving rigidity of the whole framework. The proposed scheme is then experimentally validated with a robotic testbed consisting of 6 quadrotor UAVs operating in a cluttered environment. Index Terms—graph rigidity, decentralized control, multirobot, distributed algorithms, distributed estimation. I.
1Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing Measurements
"... Abstract — This work considers the problem of estimating theunscaled relative positions of a multirobot team in a common reference frame from bearingonly measurements. Each robot has access to a relative bearing measurement taken from the local body frame of the robot, and the robots have no knowl ..."
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Abstract — This work considers the problem of estimating theunscaled relative positions of a multirobot team in a common reference frame from bearingonly measurements. Each robot has access to a relative bearing measurement taken from the local body frame of the robot, and the robots have no knowledge of a common or inertial reference frame. A corresponding extension of rigidity theory is made for frameworks embedded in the special Euclidean group SE(2) = R2×S1. We introduce definitions describing rigidity for SE(2) frameworks and provide necessary and sufficient conditions for when such a framework is infinitesimally rigid in SE(2). Analogous to the rigidity matrix for point formations, we introduce the directed bearing rigidity matrix and show that an SE(2) framework is infinitesimally rigid if and only if the rank of this matrix is equal to 2V  − 4, where V  is the number of agents in the ensemble. The directed bearing rigidity matrix and its properties are then used in the implementation and convergence proof of a distributed estimator to determine the unscaled relative positions in a common frame. Some simulation results are also given to support the analysis. I.
I. ALGORITHMS FOR COLLABORATIVE AUTONOMOUS CONTROL
"... This talk will provide a highlevel overview of some of the very recent and current activities of the Autonomous Robotics and HumanMachine Systems group at the MPI for Biological Cybernetics. The talk will also give a perspective about future challenges in the aerial collaborative robotics and hapt ..."
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This talk will provide a highlevel overview of some of the very recent and current activities of the Autonomous Robotics and HumanMachine Systems group at the MPI for Biological Cybernetics. The talk will also give a perspective about future challenges in the aerial collaborative robotics and haptic teleoperation field, with particular emphasis on onboard state estimation and physical interaction capabilities. The main research activities of the group are centered around the study and design of autonomous robotic systems evolving in an uncertain and dynamical world and interacting with people, and from a controloriented perspective. The group activity can be divided into two main areas: • Algorithms for collaborative autonomous control • Algorithms for human interaction through interfaces.