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- W4387597197 abstract "The decentralization of formations using onboard sensing is important for multi-robot systems, improving the robustness and independence of fleet operations. Bearing measurements (obtainable from embedded cameras) are an attractive choice for use in decentralized formation control, however this requires that the formation framework be bearing rigid. Rigidity may be checked numerically for a given formation framework, however it remains difficult to determine the geometric conditions under which otherwise rigid formations become flexible. This paper models the sensor and robot constraints in bearing formations of quadrotors as a kinematic mechanism with analogous properties to find geometric conditions for the degeneration of bearing rigidity (singularities) and the resulting uncontrollable motions. A classification of singularities based on graph substructures is developed, and it is shown that arbitrarily large formations may be designed for which all singularities lie within a known set of geometric conditions. An application on how to use the knowledge of all singularity cases in a formation for singularity-free control maintenance is provided." @default.
- W4387597197 created "2023-10-14" @default.
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- W4387597197 date "2023-01-01" @default.
- W4387597197 modified "2023-10-17" @default.
- W4387597197 title "Singularity Analysis of Rigid Directed Bearing Graphs for Quadrotor Formations" @default.
- W4387597197 doi "https://doi.org/10.1109/tro.2023.3324198" @default.
- W4387597197 hasPublicationYear "2023" @default.
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