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Abstract: We consider the problem of having a group of nonholonomic mobile robots equipped with omnidirectional cameras maintain a desired leader-follower formation. Our approach is to translate the formation control problem from the configuration space into a separate visual servoing task for each follower. We derive the equations of motion of the leader in the image plane of the follower and propose two control schemes for the follower. The first one is based on feedback linearization and is either... (Update)
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BibTeX entry: (Update)
N. Cowan, O. Shakernia, R. Vidal, and S. Sastry. Vision-based follow the leader. In IEEE/RSJ ICIRS, pages 1797--1801, Las Vegas, October 2003. http://citeseer.ist.psu.edu/cowan03visionbased.html More
@misc{ cowan03visionbased,
author = "N. Cowan and O. Shakernia and R. Vidal and S. Sastry",
title = "Vision-based follow the leader",
text = "N. Cowan, O. Shakernia, R. Vidal, and S. Sastry. Vision-based follow the
leader. In IEEE/RSJ ICIRS, pages 1797--1801, Las Vegas, October 2003.",
year = "2003",
url = "citeseer.ist.psu.edu/cowan03visionbased.html" }
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10 A general algorithm for robot formations using local sensing.. - Fredslund, Mataric - 2002
9 Multibody motion estimation and segmentation from multiple c.. - Shakernia, Vidal et al. - 2003
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8 Cooperative control of robot formations - Fierro, Song et al. - 2002
7 Formation control of nonholonomic mobile robots with omnidir.. - Vidal, Shakernia et al. - 2003
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