A passivity-based control of Vertical Take-off and Landing (VToL) Unmanned Aerial Vehicles (UAVs) is presented in this paper. An estimator of unmodeled dynamics and external wrench (forces plus moments) acting on the aerial vehicle and based on the momentum of the system is employed to compensate such disturbances effects. This arrangement allows VToL UAVs to perform hovering, tracking and aeri...

The paper presents a multi-robot cooperative framework to estimate the 3D position of dynamic targets, based on bearing-only vision measurements. The uncertainty of the observation provided by each robot equipped with a bearing-only vision system is effectively addressed for cooperative triangulation purposes by weighing the contribution of each monocular bearing ray in a probabilistic manner. ...

This paper deals with the leader-follower formation control problem while communication constraint in data transmitting is considered. From a practical point of view, we study the case in which unmanned vehicles are subject to the limited sensing, and communication is of a particular interest. A three-dimensional formation flight of multi-unmanned aerial vehicles with leader-follower configurat...

This paper proposes a multidrone approach for autonomous cinematography planning. The use of drones for aerial cinematography is becoming a trend. Therefore, the aerial cinematography opens a new field of application for autonomous platforms that need to develop intelligent capabilities. This becomes even more challenging if a team of multiple drones are considered for cooperation. This paper i...