Vision-Based Formation Control of Aerial Vehicles

Abstract

Abstract—We propose a general solution for the problem of distributed, vision-based formation control of aerial vehicles. Our solution is based on pure bearing measurements, optionally aug-mented with the corresponding distances. As opposed to the state of the art, our control law does not require auxiliary distance mea-surements or estimators, it can be applied to leaderless or leader-based formations with arbitrary topologies, and it has global convergence guarantees. We validate our approach through simulations and experiments on a platform of three quadrotors. I.