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Bearing rigidity maintenance for formations of quadrotor UAVs

Fabrizio Schiano, Paolo Robuffo Giordano
<span title="">2017</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2017 IEEE International Conference on Robotics and Automation (ICRA)</a> </i> &nbsp;
This paper considers the problem of controlling a formation of quadrotor UAVs equipped with onboard cameras with the goal of maintaining bearing rigidity during motion despite the presence of several sensing  ...  To this end, a decentralized gradient-based control action is developed, based on a suitable 'degree of infinitesimal rigidity' linked to the spectral properties of the bearing rigidity matrix.  ...  To the best of our knowledge, this is the first work addressing the problem of bearing rigidity maintenance for a formation of UAVs by also explicitly taking into account (complex) sensing constraints.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2017.7989175">doi:10.1109/icra.2017.7989175</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/SchianoG17.html">dblp:conf/icra/SchianoG17</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/x2v5dbmtcnartcrzlxwadex4sy">fatcat:x2v5dbmtcnartcrzlxwadex4sy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180719012316/https://hal.inria.fr/hal-01482422v2/document" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/87/7d/877d92f546eea00672f50f39eeff67587afd51d3.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2017.7989175"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

A rigidity-based decentralized bearing formation controller for groups of quadrotor UAVs

Fabrizio Schiano, Antonio Franchi, Daniel Zelazo, Paolo Robuffo Giordano
<span title="">2016</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</a> </i> &nbsp;
This paper considers the problem of controlling a formation of quadrotor UAVs equipped with onboard cameras able to measure relative bearings in their local body frames w.r.t. neighboring UAVs.  ...  The proposed control strategy relies on an extension of the rigidity theory to the case of directed bearing frameworks in R 3 ×S 1 .  ...  In this respect, the work [29] proposes an active scale estimation strategy for bearing formations of quadrotor UAVs.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2016.7759748">doi:10.1109/iros.2016.7759748</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/SchianoFZG16.html">dblp:conf/iros/SchianoFZG16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/2w5cejprh5cwvjaenmjtgdweji">fatcat:2w5cejprh5cwvjaenmjtgdweji</a> </span>
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Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

Antonio Franchi, Carlo Masone, Volker Grabe, Markus Ryll, Heinrich H Bülthoff, Paolo Robuffo Giordano
<span title="">2012</span> <i title="SAGE Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/uhsvnr5ecvb4die3422lvgaz6q" style="color: black;">The international journal of robotics research</a> </i> &nbsp;
In this paper we address the problem of controlling the motion of a group of UAVs bound to keep a formation defined in terms of only relative angles (i.e., a bearing-formation).  ...  The proposed theoretical framework is extensively validated by means of simulations and experiments with quadrotor UAVs equipped with onboard cameras.  ...  This then raises the issue of minimality for rigid bearing-formations, i.e., of the minimal cardinality of |E| needed to define a rigid bearing-formation.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1177/0278364912462493">doi:10.1177/0278364912462493</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/bhiaak5a6zhmrcahd4cachgvq4">fatcat:bhiaak5a6zhmrcahd4cachgvq4</a> </span>
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Decentralized rigidity maintenance control with range measurements for multi-robot systems

Daniel Zelazo, Antonio Franchi, Heinrich H. Bülthoff, Paolo Robuffo Giordano
<span title="2014-11-18">2014</span> <i title="SAGE Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/uhsvnr5ecvb4die3422lvgaz6q" style="color: black;">The international journal of robotics research</a> </i> &nbsp;
The proposed scheme is then experimentally validated with a robotic testbed consisting of 6 quadrotor UAVs operating in a cluttered environment.  ...  of measuring the bearing to two other agents.  ...  of the 6 quadrotors quadrotor UAVs flying in a cluttered environment. ).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1177/0278364914546173">doi:10.1177/0278364914546173</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/nnub6v7ip5fevcobukjvqyx6qi">fatcat:nnub6v7ip5fevcobukjvqyx6qi</a> </span>
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Decentralized High Level Controller for Formation Flight Control of UAVs

Mark Bastourous, Francois Guerin, Frederic Guinand, Eric Lemains
<span title="">2020</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/gkdoinch7jdzhavv2prldez7qq" style="color: black;">2020 6th International Conference on Mechatronics and Robotics Engineering (ICMRE)</a> </i> &nbsp;
The high level controller only requires simple tunings and rests on a predictive filtering algorithm and a first order dynamic model to recover an estimation of the leader UAV velocities and avoid the  ...  or degraded communications (latencies, loss...) between the leader and followers UAVs.  ...  ACKNOWLEDGMENT The authors would like to thank Le Havre Town Council (LHSM) for their support under research grants.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icmre49073.2020.9065127">doi:10.1109/icmre49073.2020.9065127</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icmre/BastourousGGL20.html">dblp:conf/icmre/BastourousGGL20</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/7bok2eyigffz3go6oi5hb56eie">fatcat:7bok2eyigffz3go6oi5hb56eie</a> </span>
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Tracking of Ground Mobile Targets by Quadrotor Unmanned Aerial Vehicles

Ruoyu Tan, Manish Kumar
<span title="">2014</span> <i title="World Scientific Pub Co Pte Lt"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/4rjrqivihvdrrpd7k3pnt72amy" style="color: black;">Unmanned Systems</a> </i> &nbsp;
This thesis focuses on development of a controller for UAVs to track ground target.  ...  University of Science and Technology, Tim Arnett, a student of University of Cincinnati and Glen Lichtwark iv with University of Queensland for their technical support in setting up the CDS quadrotor  ...  Similarly, data format of low level processors are different for different quadrotors for example, Hex Values for AscTec Pelican and Binary Values for Parrot Drone.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1142/s2301385014500101">doi:10.1142/s2301385014500101</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/gltr7rmsgngall6yijsaurxuri">fatcat:gltr7rmsgngall6yijsaurxuri</a> </span>
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Real-time indoor autonomous vehicle test environment

<span title="">2008</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ur4yxqfrung6xlhkqhxxghyovy" style="color: black;">IEEE Control Systems</a> </i> &nbsp;
Brett Bethke would like to thank the Hertz Foundation and the American Society for Engineering Education for their support.  ...  ACKNOWLEDGMENTS The authors would like to thank James McGrew and Spencer Ahrens for their assistance in the project.  ...  being used to analyze and implement techniques for embedding the fleet and vehicle health state (for instance, vehicle failures, refueling, and maintenance) into UAV mission planning.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/mcs.2007.914691">doi:10.1109/mcs.2007.914691</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mx5e6a2j5jhpzjedinm7rzw33y">fatcat:mx5e6a2j5jhpzjedinm7rzw33y</a> </span>
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Stability Analysis of a Sprayer UAV with a Liquid Tank with Different Outer Shapes and Inner Structures

Shibbir Ahmed, Huang Xin, Muhammad Faheem, Baijing Qiu
<span title="2022-03-08">2022</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/6iatzfbfmfbi5o7oaltji6olja" style="color: black;">Agriculture</a> </i> &nbsp;
Outdoor UAV mission experiments provided the practical effectiveness of the tank structures, and primary shaped tank comparison results provided guidance for future UAV pesticide-tank manufacturing.  ...  A large number of existing sprayer UAVs already carry various-shaped tanks. A UAV's liquid-sloshing problem must be reduced for existing and future plant protection.  ...  Acknowledgments: The authors acknowledge the support of the School of Agricultural Engineering, Jiangsu University, China.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/agriculture12030379">doi:10.3390/agriculture12030379</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5buexh6xofagniti7rrgvwkdzq">fatcat:5buexh6xofagniti7rrgvwkdzq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220310014007/https://mdpi-res.com/d_attachment/agriculture/agriculture-12-00379/article_deploy/agriculture-12-00379-v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/65/cd/65cdc269ee830956fc85dc40dfcbdac84dfed38c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/agriculture12030379"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

Final Program

<span title="">2020</span> <i title="IEEE"> 2020 International Conference on Unmanned Aircraft Systems (ICUAS) </i> &nbsp;
The peer review process is coordinated by the Program Chairs, who assign groups of papers to the Associate Editors. We thank all of them for their extremely valuable contributions and dedication. Dr.  ...  I offer my best wishes for a successful and productive event, I look forward to seeing all of you in Athens, Greece, and I also look forward to continuing working with you. Kimon P.  ...  In this paper, a distributed prescribed performance formation control for 3-degree of freedom (3-DOF) unmanned aerial vehicles (UAVs) is presented.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icuas48674.2020.9214039">doi:10.1109/icuas48674.2020.9214039</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/7jr6chhfija47kgtwoxqmfmmoe">fatcat:7jr6chhfija47kgtwoxqmfmmoe</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20201007160515/https://ieeexplore.ieee.org/ielx7/9210448/9213829/09214039.pdf?tp=&amp;arnumber=9214039&amp;isnumber=9213829&amp;ref=" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/09/2c/092cc2b1e3865f18e580a3d3187eff8f6dff9f40.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icuas48674.2020.9214039"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Active decentralized scale estimation for bearing-based localization

Riccardo Spica, Paolo Robuffo Giordano
<span title="">2016</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</a> </i> &nbsp;
The proposed algorithm does not assume presence of a global reference frame and only requires bearing-rigidity of the formation (for the localization problem to admit a unique solution), and presence of  ...  bearing formation.  ...  Motion and sensing model Let us consider a formation of N quadrotor UAVs.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2016.7759746">doi:10.1109/iros.2016.7759746</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/SpicaG16.html">dblp:conf/iros/SpicaG16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/oxo3f7bwafbunljr2zsmspnmae">fatcat:oxo3f7bwafbunljr2zsmspnmae</a> </span>
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Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions

Jawhar Ghommam, Luis F. Luque-Vega, Maarouf Saad
<span title="2020-07-20">2020</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/75xpl4z7arculfjaok5ombj2ju" style="color: black;">International Journal of Aerospace Engineering</a> </i> &nbsp;
In this scheme, the leader is assigned the task of intercepting a target whose velocity is unknown, while the follower quadrotors are arranged to set up a predefined rigid formation pattern, ensuring simultaneously  ...  In this paper, group formation control with collision avoidance is investigated for heterogeneous multiquadrotor vehicles.  ...  Conclusion In this paper, a strategy for formation maintenance with target interception control of a quadrotor-type aerial vehicle was investigated.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2020/2069631">doi:10.1155/2020/2069631</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/75lq3k3ugrfwxdclccqtqwkrfm">fatcat:75lq3k3ugrfwxdclccqtqwkrfm</a> </span>
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Fast Mutual Relative Localization of UAVs using Ultraviolet LED Markers

Viktor Walter, Martin Saska, Antonio Franchi
<span title="">2018</span> <i title="IEEE"> 2018 International Conference on Unmanned Aircraft Systems (ICUAS) </i> &nbsp;
Mutual relative localization is a crucial tool for formation preservation, swarming and cooperative task completion in scenarios in which UAVs share working space in small relative distances.  ...  In most current systems of compact UAV swarms the localization of particular UAVs is based on the data obtained from motion capture systems for indoor experiments or on precise RTK-GNSS data outdoor.  ...  Fig. 7 : 7 Allignments of LED markers for a hexarotor, and a quadrotor.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icuas.2018.8453331">doi:10.1109/icuas.2018.8453331</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6udrnvjdizgtjckggh4gyejtde">fatcat:6udrnvjdizgtjckggh4gyejtde</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190430070102/https://hal.laas.fr/hal-01814828/file/2018k-WalSasFra-preprint.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/83/f1/83f1cea8e9af2df98bfd482f9dd58e144f0cc6fa.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icuas.2018.8453331"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Nonlinear Model Predictive Control for 3D Formation of Multirotor Micro Aerial Vehicles with Relative Sensing in Local Coordinates [article]

I. Kagan Erunsal, Rodrigo Ventura, Alcherio Martinoli
<span title="2019-04-07">2019</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
This type of formulation makes the formation independent of the full knowledge of global or common reference frames and the utilization of expensive global localization sensors.  ...  This work focuses on the problem of three-dimensional formation control of multirotor MAVs by using exclusively relative sensory information.  ...  [4] propose a rigidity-based bearing formation controller for a group of quadrotors, Franchi et al.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1904.03742v1">arXiv:1904.03742v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/bztapkksmfbiljm5s6hbv32d7a">fatcat:bztapkksmfbiljm5s6hbv32d7a</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20191018060241/https://arxiv.org/pdf/1904.03742v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d0/0c/d00c2d8c0053600e4a122b25bd2207676fc21c30.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1904.03742v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

3-D mutual localization with anonymous bearing measurements

Marco Cognetti, Paolo Stegagno, Antonio Franchi, Giuseppe Oriolo, Heinrich H. Bulthoff
<span title="">2012</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2012 IEEE International Conference on Robotics and Automation</a> </i> &nbsp;
An experimental validation of the algorithm has been performed using quadrotor UAVs.  ...  We present a decentralized algorithm for estimating mutual 3-D poses in a group of mobile robots, such as a team of UAVs.  ...  Experimental results on a team of quadrotor UAVs are presented in Section IV, and some conclusions are given in Section V. II.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2012.6225288">doi:10.1109/icra.2012.6225288</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/CognettiSFOB12.html">dblp:conf/icra/CognettiSFOB12</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/swfjby3trbaxxkaj5o3b5thlnu">fatcat:swfjby3trbaxxkaj5o3b5thlnu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170809115948/http://www.dis.uniroma1.it/%7Elabrob/pub/papers/ICRA12_3DMutLoc.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c5/7c/c57c7fed01a4fed39b29f24c4729349e6bf75cea.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2012.6225288"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

Dongjun Lee, Antonio Franchi, Hyoung Il Son, ChangSu Ha, Heinrich H. Bulthoff, Paolo Robuffo Giordano
<span title="">2013</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/56vdvvzi5fai5aigjcxpcegkf4" style="color: black;">IEEE/ASME transactions on mechatronics</a> </i> &nbsp;
We propose a novel semi-autonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted  ...  Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.  ...  Some examples of this vectored-thrust UAV include: autonomous helicopters [4] , [30] , VTOL aircraft [9] , ducted-fan UAVs [8] and, quadrotors [6] , which we use for the experiment in Sec.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tmech.2013.2263963">doi:10.1109/tmech.2013.2263963</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5uky6cjbyrd6tfsg54fqiupw24">fatcat:5uky6cjbyrd6tfsg54fqiupw24</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20140308153527/http://www.irisa.fr:80/lagadic/pdf/2013_ieeetmech_lee.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d0/36/d0362df761d883491bc5f32be181ed58338650fc.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tmech.2013.2263963"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>
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