System Maintenance:
There may be intermittent impact on performance while updates are in progress. We apologize for the inconvenience.
By Topic

A switching active sensing strategy to maintain observability for vision-based formation control

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
$31 $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

3 Author(s)
Mariottini, G.L. ; Department of Computer Science and Engineering, University of Minnesota, Minneapolis, 55455, USA ; Martini, S. ; Egerstedt, M.B.

Vision-based control of a robot formation is challenging because the on-board sensor (camera) only provides the view-angle to the other moving robots, but not the distance that must be estimated. In order to guarantee a consistent estimate of the distance by knowing the control inputs and the sensor outputs in a given interval, the nonlinear multi-robot system must preserve its observability. Recent theoretical studies on leader-follower robot formation exploit the interesting influence that the control actions have on observability. Based on these results, in this paper we present a switching active control strategy for formation control. Our control strategy is active in the sense that, while asymptotically achieving the formation control tasks, it also guarantees the system observability in those cases in which all the robots tend to move along non-observable paths. As a result, both estimation and formation performances are improved. Extensive simulation results show the effectiveness of the proposed design.

Published in:

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Date of Conference:

12-17 May 2009