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Visual feedback pose synchronization with a generalized camera model

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4 Author(s)
Ibuki, Tatsuya ; Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 152-8552, JAPAN ; Hatanaka, T. ; Fujita, M. ; Spong, M.W.

This paper investigates visual feedback pose synchronization in leader-follower type visibility structures on the Special Euclidean group SE(3). We first define visual robotic networks with a generalized camera model. We then propose a visual feedback pose synchronization law combining a vision-based observer with the pose synchronization law presented in our previous works. We then prove that for a static leader, the network with the control law achieves visual feedback pose synchronization. Moreover, for a moving leader, we evaluate the tracking performance of the network. Finally, the validity of the proposed control law and analysis is demonstrated through experiments.

Published in:

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Date of Conference:

12-15 Dec. 2011