Following the flock [formation control]
Vidal, R.
Shakernia, O.
Sastry, S.
Center for Imaging Sci., Johns Hopkins Univ., Baltimore, MD, USA;
This paper appears in: Robotics & Automation Magazine, IEEE
Publication Date: Dec. 2004
Volume: 11,
Issue: 4
On page(s): 14- 20
ISSN: 1070-9932
INSPEC Accession Number: 8316603
Digital Object Identifier: 10.1109/MRA.2004.1371604
Current Version Published: 2004-12-27
Abstract
A new approach to formation control of nonholonomic mobile robots equipped with central panoramic cameras is presented. The approach uses motion segmentation techniques to estimate the position of each leader and omnidirectional visual servoing for tracking and collision avoidance. The paper showed that direct feedback-linearization of the leader-follower dynamics leads to asymptotic tracking but suffers from degenerate configurations. A nonlinear controller was presented that avoids such singularities but can only guarantee input-to-state stability of the formation.
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
