Subframework-based Bearing Rigidity Maintenance Control in Multirobot Networks

This work presents a novel approach for analyzing and controlling bearing rigidity in multi-robot networks with dynamic topology. By decomposing the system's framework into subframeworks, we express bearing rigidity, a global property, as a set of local properties, with rigidity eigenvalues serving as natural local rigidity metrics. We propose a decentralized, scalable, gradient-based controller that uses only bearing measurements to execute mission-specific commands. The controller preserves bearing rigidity by maintaining rigidity eigenvalues above a threshold, and also avoids inter-robot collisions. Simulations confirm the scheme's effectiveness, with information exchange confined to subframeworks, underscoring its scalability and practicality.

Prototyping of a multirotor UAV for precision landing under rotor failures

This work presents a prototype of a multirotor aerial vehicle capable of precision landing, even under the effects of rotor failures. The manuscript presents the fault-tolerant techniques and mechanical designs to achieve a fault-tolerant multirotor, and a vision-based navigation system required to achieve a precision landing. Preliminary experimental results will be shown, to validate on one hand the fault-tolerant control vehicle and, on the other hand, the autonomous landing algorithm. Also, a prototype of the fault-tolerant UAV is presented, capable of precise autonomous landing, which will be used in future experiments.