Скачать или смотреть Vision-based Localization for Leader-Follower Formation Control

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 Kalman filter and an input-state feedback controller is designed to stabilize the formation.

Authors:
Gian Luca Mariottini, Fabio Morbidi, Domenico Prattichizzo,
Dipartimento di Ingegneria dellInformazione, Universita' di Siena,
Via Roma 56, 53100 Siena, Italy.
E-mail:[email protected].

N. Vander Valk, N. Michael, G.J. Pappas and K. Daniilidis,
GRASP Laboratory, University of Pennsylvania,
Philadelphia, PA 19104, USA.

NOTE: This video wants only to represents the personal intellectual contribution of the author himself to the project.