By Topic

Distributed visual servoing: a cross-platform agent-based implementation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
E. Cervera ; Lab. of Robotic Intelligence, Jaume-I Univ., Castello, Spain

Visual control tasks demand very fast processing and transfer of huge amounts of data - live video images. Nowadays, computers and communication systems have become powerful enough to allow more flexible implementations of visual control tasks, enlarging the field of application to embrace networked systems, e.g. cooperative robots or mobile manipulators. In such setups, video grabbing, vision processing, and control might be located in different platforms across the network. This paper presents a cross-platform, networked implementation of visual control tasks based on software agents and video streaming technologies. This implementation consists of free, off-the-shelf, software components, resulting in a transparent system whose configuration can be adapted to existing hardware in very different ways, without any modification in the source code. We present several configurations which span onboard and offboard camera setups, and we experimentally determine the control loop delay of a real system, to test the feasibility of the proposed approach.

Published in:

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

2-6 Aug. 2005