Visual Feedback Control for Multi-Robot with Panoramic Camera: Passivity-Based Approach

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This study investigates passivity-based visual feedback control for multi-robot with panoramic camera. Firstly, the vision-based estimation and pose control with a panoramic camera via the passivity approach are presented. Next, passivity-based pose control via an image space navigation function and an obstacle avoidance navigation function for three dimensional eye-in-hand visual feedback systems are designed. Finally, visual motion observer-based bilateral attitude and position control for eye-in-hand mobilerobot systems is proposed. Stability analysis of the proposed control laws and convergence analysis of the proposed path planners are provided. The effectiveness of the proposed frameworks are verified through computer simulations and experiments.