431 citations · 1.3k across the 21 of their papers we have counts for
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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…
Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance
Antonio Franchi, Paolo Stegagno, Giuseppe Oriolo
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for differe…
Online Leader Selection for Improved Collective Tracking and Formation Maintenance
Antonio Franchi, Paolo Robuffo Giordano
The goal of this work is to propose an extension of the popular leader-follower framework for multi-agent collective tracking and formation maintenance in presence of a time- varyi…