  In this paper, we address the problem of stable coordinated motion in
multi-robot systems with limited fields of view (FOVs). These problems arise
naturally for multi-robot systems that interact based on sensing, such as our
case study of multiple unmanned aerial vehicles (UAVs) each equipped with
several cameras that are used for detecting neighboring UAVs. In this context,
our contributions are: i) first, we derive a framework for studying stable
motion and distributed topology control for multi-robot systems with limited
FOVs; and ii) Then, we provide experimental results in indoor and challenging
outdoor environments (e.g., with wind speeds up to 10 mph) with a team of UAVs
to demonstrate the performance of the proposed control framework using a
portable multi-robot experimental set-up.
