Leader-Follower Formations: Uncalibrated Vision-Based Localization and Control
Leader-Follower Formations: Uncalibrated Vision-Based Localization and Control
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DOI：
10.1109/robot.2007.363679
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发表时间：
2007-04
期刊：
影响因子：
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通讯作者：
G. Mariottini;F. Morbidi;D. Prattichizzo;George Pappas;Kostas Daniilidis
中科院分区：
文献类型：
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作者：
G. Mariottini;F. Morbidi;D. Prattichizzo;George Pappas;Kostas Daniilidis
本文重点研究了配备全景相机的移动机器人的领导-跟随编队，并扩展了先前文献中解决基于视觉的定位和控制问题的工作。首先，证明了一个新的可定位性的充分分析条件，并利用该条件阐明了使用未校准的视觉传感器进行地层定位的几何意义，这里使用无气味卡尔曼滤波器进行。其次，我们设计了一个基于动态扩展的反馈控制律，以扩展我们的控制方案对远程机器人的适用性。
This paper focuses on leader-follower formations of mobile robots equipped with panoramic cameras and extend earlier works in the literature addressing both the vision-based localization and control problems. First, a new sufficient analytical condition for localizability is proved and used to shed light on the geometrical meaning of formation localization using uncalibrated vision sensors, here performed with the unscented Kalman filter. Second, we design a feedback control law based on dynamic extension in order to extend the applicability of our control scheme also to the case of distant robots.