Self-Localization is the basis to realize autonomous ability such as motion planning and decision making for mobile robots, and omnidirectional vision is one of the most important sensors for RoboCup Middle Size League (MSL) soccer robots. According to the characteristic that RoboCup competition is highly dynamic and the deficiency of the current self-localization methods, a robust and real-tim...

In this paper, we propose our ideas for realising a Distributed Vision System for building a map of a large environment with a team of mobile robots equipped only with vision sensors. The vision sensors used in this work are catadioptric omnidirectional vision systems. The mirrors of these catadioptric systems have pro les expressly designed for the robot's body and for the robot's task. We rep...

Map information is important for path planning and self-localization when mobile robots execute autonomous tasks. In unknown environments, mobile robots should measure environments and construct their maps by themselves. Then, we propose a modeling method of three-dimensional environment. To realize wide-ranging environment measurement, we use an omnidirectional camera. Our method is based on s...

The kinematics of some mobile robots is described through a strictly invariant Jacobian matrix [ J]. This is the case for robots with three degrees of freedom and suitable omnidirectional wheels, and that for robots with conventional wheels and differential kinematics. This article proposes a calibration technique for the matrix [ J] of such robots. It is based on four accurate configuration me...

In this paper, we propose an algorithm that combine the restriction on motor’s velocities and the kinematic model of Omni-Directional mobile robots to improve the trajectory’s following. The algorithm verifies the reference velocities of the robot and redefine them if necessary, in order to prevent possible saturation on motor’s velocities. Simulation results of the algorithm applied to an omni...

This paper addresses the problem of planning and controlling the actions of groups of mobile robots during the execution of cooperative tasks. We propose a general framework that transforms several cooperative tasks to the same basic problem, thus enabling a single solution for all of them. Using this approach a single team of robots is capable to perform many different tasks by providing each ...

Abstract The demand for automation using mobile robots has been increased dramatically in the last decade. Nowadays, are used various applications that not attainable to humans. Omnidirectional one particular type of these robots, which center attention their maneuverability and ability track complex trajectories with ease, unlike differential counterparts. However, disadvantages is dynamical m...

We consider the problem of distributed leader-follower formation control for nonholonomic mobile robots equipped with central-panoramic cameras. By specifying the desired formation in the image plane, we translate the control problem into a separate visual servoing task for each follower. We use a rank constraint on the omnidirectional optical flows across multiple frames to estimate the positi...