480 citations · 927 across the 30 of their papers we have counts for
3 papers · 1 filter
Rigidity Theory in SE(2) for Unscaled Relative Position Estimation using only Bearing Measurements
Daniel Zelazo, Antonio Franchi, Paolo Robuffo Giordano
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 has acces…
Decentralized Rigidity Maintenance Control with Range Measurements for Multi-Robot Systems
Daniel Zelazo, Antonio Franchi, Heinrich H. Bülthoff +1
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topol…
Duality and Network Theory in Passivity-based Cooperative Control
Mathias Bürger, Daniel Zelazo, Frank Allgöwer
This paper presents a class of passivity-based cooperative control problems that have an explicit connection to convex network optimization problems. The new notion of maximal equi…