 Vision-based Localization for Leader-Follower Formation Control
Descrição do Vídeo:
This work deals with vision-based localization for
leader-follower formation control. Each robot is equipped
with a panoramic camera which only provides the
view-angle to the other robots.
As an original contribution, the vision-based
localization problem is analytically studied using a new
observability condition valid for general nonlinear
systems and based on the Extended Output Jacobian matrix.
The above condition allows one to identify the set of
leader trajectories that preserve the formation
observability.
The state of the leader-follower system is estimated via
an extended Ka
Data: December 4, 2008
Palavras Relacionados: Multirobot Panoramic cameras Robot formation control
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