We consider the following problem: a team of robots is deployed in an unknown
environment and it has to collaboratively build a map of the area without a reliable …

This paper addresses the attitude synchronization problem in multi-agent systems with
directed and switching interconnection topologies. Two cases for the synchronization …

Pose graph optimization (PGO) is the problem of estimating a set of poses from pairwise
relative measurements. PGO is a nonconvex problem and, currently, no known technique …

In this paper we propose a discrete time protocol to align the states of a network of agents
evolving in the space of rotations SO (3). The starting point of our work is Riemannian …

This paper addresses the consensus problem and the formation problem on SE (3) in multi-
agent systems with directed and switching interconnection topologies. Several control laws …

Pose graph optimization from relative measurements is challenging because of the angular
component of the poses: the variables live on a manifold product with nontrivial topology …

In this paper we survey and put in a common framework several works that have been
developed in different contexts, all dealing with the same abstract problem, called …

This paper presents a decentralized controller to drive a team of agents to reach a desired
formation in the absence of a global reference frame. Each agent is able to measure its …

We propose a distributed algorithm to estimate the 3D trajectories of multiple cooperative
robots from relative pose measurements. Our approach leverages recent results [1] which …

In this paper, we give a distributed solution to the problem of making a team of
nonholonomic robots reach consensus about their orientations using monocular cameras …