6 papers
Motion Planning for Aerial Pick-and-Place based on Geometric Feasibility Constraints
Huazi Cao, Jiahao Shen, Cunjia Liu +2
This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partiall…
Characterizing bearing equivalence in directed graphs
Zhiyong Sun, Shiyu Zhao, Daniel Zelazo
In this paper, we study bearing equivalence in directed graphs. We first give a strengthened definition of bearing equivalence based on the \textit{kernel equivalence} relationship…
A Unified Dissertation on Bearing Rigidity Theory
Giulia Michieletto, Angelo Cenedese, Daniel Zelazo
This work focuses on the bearing rigidity theory, namely the branch of knowledge investigating the structural properties necessary for multi-element systems to preserve the inter-u…
Infinitesimal Weak Rigidity, Formation Control of Three Agents, and Extension to 3-dimensional Space
Seong-Ho Kwon, Minh Hoang Trinh, Koog-Hwan Oh +2
In this paper, we introduce new concepts of weak rigidity matrix and infinitesimal weak rigidity for planar frameworks. The weak rigidity matrix is used to directly check if a fram…
Bearing Rigidity Theory and its Applications for Control and Estimation of Network Systems: Life Beyond Distance Rigidity
Shiyu Zhao, Daniel Zelazo
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing.…
Laman Graphs are Generically Bearing Rigid in Arbitrary Dimensions
Shiyu Zhao, Zhiyong Sun, Daniel Zelazo +2
This paper addresses the problem of constructing bearing rigid networks in arbitrary dimensions. We first show that the bearing rigidity of a network is a generic property that is…