A vision-based formation control framework
Top Cited Papers
- 10 December 2002
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 18 (5) , 813-825
- https://doi.org/10.1109/tra.2002.803463
Abstract
We describe a framework for cooperative control of a group of nonholonomic mobile robots that allows us to build complex systems from simple controllers and estimators. The resultant modular approach is attractive because of the potential for reusability. Our approach to composition also guarantees stability and convergence in a wide range of tasks. There are two key features in our approach: 1) a paradigm for switching between simple decentralized controllers that allows for changes in formation; 2) the use of information from a single type of sensor, an omnidirectional camera, for all our controllers. We describe estimators that abstract the sensory information at different levels, enabling both decentralized and centralized cooperative control. Our results include numerical simulations and experiments using a testbed consisting of three nonholonomic robots.Keywords
This publication has 29 references indexed in Scilit:
- Distributed and autonomous control method for generating shape of multiple mobile robot groupPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Study on cooperative positioning system: optimum moving strategies for CPS-IIIPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Social potentials for scalable multi-robot formationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Modeling and control of formations of nonholonomic mobile robotsIEEE Transactions on Robotics and Automation, 2001
- Feasible formations of multi-agent systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2001
- Distributed Multi-Robot LocalizationPublished by Springer Nature ,2000
- Current State of the Art in Distributed Autonomous Mobile RoboticsPublished by Springer Nature ,2000
- Behavior-based formation control for multirobot teamsIEEE Transactions on Robotics and Automation, 1998
- Directed Sonar Sensing for Mobile Robot NavigationPublished by Springer Nature ,1992
- A robust layered control system for a mobile robotIEEE Journal on Robotics and Automation, 1986