Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Multi-robot distributed visual consensus using epipoles
KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.ORCID-id: 0000-0003-0177-1993
2011 (engelsk)Inngår i: Proc IEEE Conf Decis Control, 2011, s. 2750-2755Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper we give a distributed solution to the problem of making a team of non-holonomic robots achieve the same heading (attitude consensus problem) using vision sensors with limited field of view. The use of cameras with constrained field of view limits the information the robots perceive compared to other omnidirectional sensors. This makes the consensus problem more complicated, because the robots will not always be able to observe other robots. By using structure from motion computed from images, the robots can estimate the difference in their headings from common observations of the environment without the necessity of directly observe each other. In this way, the robots achieve the consensus in their headings while observing the environment instead of each other. The contribution of the paper is a new controller that uses the epipoles computed from pairs of images to estimate the misalignment between neighbor robots. In addition, the control is robust to changes in the topology of the network and does not require to know the calibration of the cameras in order to achieve the desired configuration. To the best of our knowledge, this is the first time that the epipoles are used in multi-robot consensus, putting their properties in value.

sted, utgiver, år, opplag, sider
2011. s. 2750-2755
Serie
Proceedings of the IEEE Conference on Decision and Control, ISSN 0191-2216
Emneord [en]
Consensus problems, Distributed solutions, Field of views, Multirobots, Non-holonomic robot, Omni-directional sensors, Structure from motion, Vision sensors, Cameras, Multipurpose robots, Industrial robots
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-150605DOI: 10.1109/CDC.2011.6161079Scopus ID: 2-s2.0-84860663633ISBN: 9781612848006 (tryckt)OAI: oai:DiVA.org:kth-150605DiVA, id: diva2:744495
Konferanse
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, 12 December 2011 through 15 December 2011, Orlando, FL
Merknad

QC 20140908

Tilgjengelig fra: 2014-09-08 Laget: 2014-09-08 Sist oppdatert: 2014-09-08bibliografisk kontrollert

Open Access i DiVA

Fulltekst mangler i DiVA

Andre lenker

Forlagets fulltekstScopus

Personposter BETA

Hu, Xiaoming

Søk i DiVA

Av forfatter/redaktør
Hu, Xiaoming
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric

doi
isbn
urn-nbn
Totalt: 36 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf