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When mobile robots need to cooperate, mutual localization is a key issue. The objective is to enable cooperative localization capabilities, such that each robot determines the partners positions in a common frame with reliable confidence estimates. Exteroceptive sensors can measure distances to known beacons in order to provide absolute information. It often exists biases that affect these measurements...
In this paper, we address the control problem of multiple Unmanned Aerial Vehicles (UAVs) flocking by using a behavior-based strategy. We conceive a behavior intending to address the control design towards a successful achievement of the flocking task without fragmentation. Moreover, through its implemention in UAVs, no rendezvous point is needed to perform flocking. We design a control law, which...
In this work, a notion of local homogeneity is formally defined. Important results involving homogeneous functions or vector fields are reformulated in the consequent local context. In particular, global finite-time stability is characterized through the proposed notion of local homogeneity. As an application of the developed analytical setting, a global finite-time stabilization scheme for robot...
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