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Open AccessArticle
Vision-Based Formation Control of Quadrotors Using a Bearing-Only Approach
by
David L. Ramírez-Parada
David L. Ramírez-Parada
David Leonardo Ramírez Parada received his master’s degree in Computer Science from CIMAT (Center [...]
David Leonardo Ramírez Parada received his master’s degree in Computer Science from CIMAT (Center for Research in Mathematics) in Guanajuato, Mexico, and a bachelor’s degree in Mathematics from the District University of Francisco José de Caldas in Bogotá, Colombia. He is currently pursuing a PhD in Computer Science and working as a Computer Vision and Artificial Intelligence Engineer.
1
,
Héctor M. Becerra
Héctor M. Becerra 1,*
,
Carlos A. Toro-Arcila
Carlos A. Toro-Arcila 2
and
Gustavo Arechavaleta
Gustavo Arechavaleta 2
1
Centro de Investigación en Matemáticas (CIMAT), Jalisco S/N, Guanajuato 36023, Guanajuato, Mexico
2
Centro de Investigación y de Estudios Avanzados (CINVESTAV) del IPN, Saltillo 25900, Coahuila, Mexico
*
Author to whom correspondence should be addressed.
Robotics 2024, 13(8), 115; https://doi.org/10.3390/robotics13080115 (registering DOI)
Submission received: 27 June 2024
/
Revised: 24 July 2024
/
Accepted: 25 July 2024
/
Published: 28 July 2024
Abstract
In this paper, we present a vision-based leader–follower strategy for formation control of multiple quadrotors. The leaders use a decoupled visual control scheme based on invariant features. The followers use a control scheme based only on bearing measurements, and a robust control is introduced to deal with perturbations generated by the unknown movement of the leaders. Using this formulation, we study a geometrical pattern formation that can use the distance between the leaders to scale the formation and cross constrained spaces, such as a window. A condition is defined for which a formation has rigidity properties considering the constrained field of view of the cameras, such that invariance to translation and scaling is achieved. This condition allows us to specify a desired formation where the followers do not need to share information between them. Results obtained in a dynamic simulator and real experiments show the effectiveness of the approach.
Share and Cite
MDPI and ACS Style
Ramírez-Parada, D.L.; Becerra, H.M.; Toro-Arcila, C.A.; Arechavaleta, G.
Vision-Based Formation Control of Quadrotors Using a Bearing-Only Approach. Robotics 2024, 13, 115.
https://doi.org/10.3390/robotics13080115
AMA Style
Ramírez-Parada DL, Becerra HM, Toro-Arcila CA, Arechavaleta G.
Vision-Based Formation Control of Quadrotors Using a Bearing-Only Approach. Robotics. 2024; 13(8):115.
https://doi.org/10.3390/robotics13080115
Chicago/Turabian Style
Ramírez-Parada, David L., Héctor M. Becerra, Carlos A. Toro-Arcila, and Gustavo Arechavaleta.
2024. "Vision-Based Formation Control of Quadrotors Using a Bearing-Only Approach" Robotics 13, no. 8: 115.
https://doi.org/10.3390/robotics13080115
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