A vision-based formation control framework
نویسندگان
چکیده
منابع مشابه
A Framework for Vision Based Formation Control
Abstract—We describe a framework for controlling and coordinating a group of nonholonomic mobile robots for cooperative tasks ranging from scouting and reconnaissance to distributed manipulation. The framework allows us to build complex systems from simple controllers and estimators. This modular approach is attractive because of the potential for reusability. In addition, we show that our appr...
متن کاملA vision-based formation control framework
We describe a framework for cooperative control of a group of nonholonomic mobile robots that allows us to build complex systems from simple controllers and estimators. The resultant modular approach is attractive because of the potential for reusability. Our approach to composition also guarantees stability and convergence in a wide range of tasks. There are two key features in our approach: 1...
متن کاملOmnidirectional Vision-Based Formation Control∗
We consider the problem of distributed leader-follower formation control for nonholonomic mobile robots equipped with paracatadioptric cameras. Our approach is to translate the formation control problem from the configuration space into a separate visual servoing task for each follower. First, we present an algorithm for infinitesimal multi-body motion segmentation from multiple paracatadioptri...
متن کاملVision-based formation control of aerial vehicles
We propose a general solution for the problem of distributed, vision-based formation control of aerial vehicles. Our solution is based on pure bearing measurements, optionally augmented with the corresponding distances. As opposed to the state of the art, our control law does not require auxiliary distance measurements or estimators, it can be applied to leaderless or leaderbased formations wit...
متن کاملVision-based mobile robot formation control
Related work concerning the vision-based control of nonholonomic robots, control of robot formations and use of zoom for metrology and control in robotics has been analyzed. A summary concerning visual servoing of nonholonomic robots and control of zoom is given in document 1. Literature about the control of robot formations is surveyed from the robustness point of view in the Iros paper, with ...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 2002
ISSN: 1042-296X
DOI: 10.1109/tra.2002.803463