In this paper, we shed light on two fundamental actuation capabilities of multirotors. The first is the degree of coupling between the total force and total moment generated by the propellers. The second is the ability to robustly fly completely still in place after the loss of one or more propellers, in the case of mono-directional propellers. These are formalized through the definition of some algebraic conditions on the control allocation matrices. The theory is valid for any multirotor, with arbitrary number, position, and orientation of the propellers. As a show case for the general theory, we demonstrate that standard star-shaped hexarotors with collinear propellers are not able to robustly fly completely still at a constant spot using only five of their six propellers. To deeply understand this counterintuitive result, it is enough to apply our theory, which clarifies the role of the tilt angles and locations of the propellers. The theory is also able to explain why, on the contrary, both the tilted star-shaped and the Y-shaped hexarotors can fly with only five out of six propellers. The analysis is validated with both simulations and extensive experimental results showing recovery control after rotor losses.

Nowadays, aerial formations are frequently employed in outdoor scenarios to cooperatively explore and monitor wide areas of interest. In these applications, the vehicles are often exposed to relevant security vulnerabilities, as, for instance, the alteration of navigation signals from an attacker with map counterfeiting (if not even hijacking) purposes. In this work, we focus on an Unmanned Aerial Vehicle (UAV) formation that monitors an area, wherein navigation spoofing attacks may occur. Letting the UAVs cooperate and exploiting the redundancy in the available sensing information, a distributed procedure is proposed to $i)$ detect spoofing attacks, and $ii)$ support the navigation in adverse conditions. The validity of the designed approach is confirmed by numerical results. Aerial vehicles for outdoor operation are generally endowed with inertial measurements, relative ranging, and GNSS sensing capability. In this work, two cascaded estimation algorithms for concurrent GNSS spoofing detection and localization in a multi-UAV scenario is proposed, to attain robust navigation in areas subject to GNSS spoofing attacks. The attack detection leverages on information theoretic tools to provide a practical threshold test by checking the multimodal measurement consistency. The localization procedures exploit a decision logic relying on measurement reliability to combine information sources that are different in nature, for UAV self-localization in both safe and under-attack conditions. Note to Practitioners —Aerial vehicles for outdoor operation are generally endowed with inertial measurements, relative ranging, and GNSS sensing capability. In this work, two cascaded estimation algorithms for concurrent GNSS spoofing detection and localization in a multi-UAV scenario is proposed, to attain robust navigation in areas subject to GNSS spoofing attacks. The attack detection leverages on information theoretic tools to provide a practical threshold test by checking the multimodal measurement consistency. The localization procedures exploit a decision logic relying on measurement reliability to combine information sources that are different in nature, for UAV self-localization in both safe and under-attack conditions.

This work focuses on bearing rigidity theory, namely the branch of knowledge investigating the structural properties necessary for multi-element systems to preserve the inter-unit bearings under deformations. The contributions of this work are twofold. The first one consists in the development of a general framework for the statement of the principal definitions and properties of bearing rigidity. We show that this approach encompasses results existing in the literature, and also provides a systematic approach for studying bearing rigidity on any differential manifold in SE(3)^n, where n is the number of agents. The second contribution is the derivation of a general form of the rigidity matrix, a central construct in the study of rigidity theory. We provide a necessary and sufficient condition for the infinitesimal rigidity of a bearing framework as a property of the rank of the rigidity matrix. Finally, we present two examples of multi-agent systems not encountered in the literature and we study their rigidity properties using the developed methods.

Industry 4.0, smart homes, and the Internet of Things are boosting the employment of autonomous aerial vehicles in indoor environments, where localization is still challenging, especially in the case of close and cluttered areas. In this paper, we propose a Visual Inertial Odometry localization method based on fiducial markers. Our approach enables multi-rotor aerial vehicle navigation in indoor environments and tackles the most challenging aspects of image-based indoor localization. In particular, we focus on a proper and continuous pose estimation, working from take-off to landing, at several different flying altitudes. With this aim, we designed a map of fiducial markers that produces results that are both dense and heterogeneous. Narrowly placed tags lead to minimal information loss during rapid aerial movements while four different classes of marker size provide consistency when the camera zooms in or out according to the vehicle distance from the ground. We have validated our approach by comparing the output of the localization algorithm with the ground-truth information collected through an optoelectronic motion capture system, using two different platforms in different flying conditions. The results show that error mean and standard deviation can remain constantly lower than $0.11 \mathrm{m}$, so not degrading when the aerial vehicle increases its altitude and, therefore, strongly improving similar state-of-the-art solutions.

This work presents a novel general regularized distributed solution for the state estimation problem in networked systems. Resting on the graph-based representation of sensor networks and adopting a multivariate least-squares approach, the designed solution exploits the set of the available inter-sensor relative measurements and leverages a general regularization framework, whose parameter selection is shown to control the estimation procedure convergence performance. As confirmed by the numerical results, this new estimation scheme allows ( $i$ ) the extension of other approaches investigated in the literature and ( $ii$ ) the convergence optimization in correspondence to any (undirected) graph modeling the given sensor network.