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We present a decentralized system for the bilateral teleoperation of groups of UAVs which only relies on relative bearing measurements, i.e., without the need of distance information or global localization. The properties of a 3D bearing-formation are analyzed, and a minimal set of bearings needed for its definition is provided. We also design a novel decentralized formation control almost globally convergent and able to maintain bounded and non-vanishing inter-distances among the agentsdoi:10.1109/iros.2011.6094525 dblp:conf/iros/FranchiMBG11 fatcat:cdqkcsdhevewxpdnnaflh3qsma