Estimating the location of a tracked tool’s tip relative to its Dynamic Reference Frame (DRF) and localizing a specific point in a tracking system’s coordinate frame are fundamental tasks in image-guided procedures. The most common approach to estimating these values is by pivoting a tool around a fixed point. The transformations from the tracking system’s frame to the tool’s DRF are the input....

In this work we analize the controllability and observability properties of several interconnection configurations such as the chain topology and ring topology as well as combinations of these two topologies. A leader/follower control strategy is proposed to control the center of mass of the multiple agent system. It is shown that the trajectory tracking for a multiagent system converges to the...

This paper considers the gain-scheduled leader-follower tracking control problem for a parameter varying complex interconnected system with directed communication topology and uncertain normbounded coupling between the agents. A gain-scheduled consensus-type control protocol is proposed and a sufficient condition is obtained which guarantees a suboptimal bound on the system tracking performance...

This paper studies the leader-following consensus problem of nonlinear multi-agent systems (MAS) with one-sided Lipschitz conditions under directed graph, and a novel observer-based distributed tracking protocol that only utilizes relative output information adjacent agents is proposed. To avoid disadvantage solving Laplace matrix eigenvalues, fully adaptive scheme constructed. The sufficient f...

In this paper, a robust vehicle local position estimation with the help of single camera sensor and GPS is presented. A modified Inverse Perspective Mapping, illuminant Invariant techniques and object detection based approach is used to localize the vehicle in the road. Vehicles current lane, its position from road boundary and other cars are used to define its local position. For this purpose ...