480 citations · 637 across the 13 of their papers we have counts for
14 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…
Bearing-Based Formation Stabilization with Directed Interaction Topologies
Shiyu Zhao, Daniel Zelazo
This paper studies the problem of stabilizing target formations specified by inter-neighbor bearings with relative position measurements. While the undirected case has been studied…
Translational and Scaling Formation Maneuver Control via a Bearing-Based Approach
Shiyu Zhao, Daniel Zelazo
This paper studies distributed maneuver control of multi-agent formations in arbitrary dimensions. The objective is to control the translation and scale of the formation while main…
Bearing-Based Formation Maneuvering
Shiyu Zhao, Daniel Zelazo
This paper studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while m…
Bearing-Based Distributed Control and Estimation of Multi-Agent Systems
Shiyu Zhao, Daniel Zelazo
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control…
Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization
Shiyu Zhao, Daniel Zelazo
A fundamental problem that the bearing rigidity theory studies is to determine when a framework can be uniquely determined up to a translation and a scaling factor by its inter-nei…
Finite-time Stabilization of Circular Formations using Bearing-only Measurements
Shiyu Zhao, Feng Lin, Kemao Peng +2
This paper studies decentralized formation control of multiple vehicles when each vehicle can only measure the local bearings of their neighbors by using bearing-only sensors. Sinc…
Distributed Control of Angle-constrained Circular Formations using Bearing-only Measurements
Shiyu Zhao, Feng Lin, Kemao Peng +2
This paper studies distributed formation control of multiple agents in the plane using bearing-only measurements. It is assumed that each agent only measures the local bearings of…
Optimal Sensor Placement for Target Localization and Tracking in 2D and 3D
Shiyu Zhao, Ben M. Chen, Tong H. Lee
This paper analytically characterizes optimal sensor placements for target localization and tracking in 2D and 3D. Three types of sensors are considered: bearing-only, range-only,…