Formation control of nonholonomic mobile robots with omnidirectional visual servoing and motion segmentation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2003, Pages 584-589

  Vidal, René ^a   Shakernia, Omid ^a   Sastry, Shankar ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; COMPUTER VISION; CONSTRAINT THEORY; FEEDBACK CONTROL; IMAGE SEGMENTATION; LINEARIZATION; MATHEMATICAL MODELS; MOTION ESTIMATION; NONLINEAR CONTROL SYSTEMS; OPTICAL FLOWS; SYSTEM STABILITY; VIDEO CAMERAS;

NONHOLONOMIC MOBILE ROBOTS; NONLINEAR TRACKING CONTROLLER; OMNIDIRECTIONAL CAMERAS; OMNIDIRECTIONAL VISION;

MOBILE ROBOTS;

EID: 0344013545     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. N. Cowan, J. Weingarten, and D. Koditschek. Visual servoing via navigation functions. IEEE Transactions on Robotics and Automation, 18(4):521-533, 2002.
2. A. Das, R. Fierro, V. Kumar, J. Ostrowski, J. Spletzer, and C. Taylor. A framework for vision based formation control. IEEE Transactions on Robotics and Automation, 18(5):813-825, 2002.
3. J. Desai, J. Otrowski, and V. Kumar. Modeling and control of formations of nonholonomic robots. IEEE Transactions on Robotics and Automation, 17(6):905-908, 2001.
4. M. Egerstedt and X. Hu. Formation constrained multi-agent control. IEEE Transactions on Robotics and Automation, 17(6):947-951, 2001.
5. A. Fax and R. Murray. Graph laplacians and stabilization of vehicle formations. In International Federation of Automatic Control World Congress, 2002.
6. C. Geyer and K. Daniilidis. A unifying theory for central panoramic systems and practical implications. In European Conference on Computer Vision, pages 445-461, 2000.
7. A. Pant, P. Seiler, T. Koo, and K. Hedrick. Mesh stability of unmanned aerial vehicle clusters. In American Control Conference, pages 62-68, 2001.
8. O. Shakernia, R. Vidal, and S. Sastry. Multibody motion estimation and segmentation from multiple central panoramic views. In IEEE ICRA, 2003.
9. D. Stipanovic, G. Inalhan, R. Teo, and C. Tomlin. Decentralized overlaping control of a formation of unmanned aerial vehicles. In IEEE Conference on Decision and Control, pages 2829-2835, 2002.
10. D. Swaroop and J. Hedrick. String stability of interconnected systems. IEEE Transactions on Automatic Control, 41:349-357, 1996.
11. P. Tabuada, G. Pappas, and P. Lima. Feasible formations of multi-agent systems. In American Control Conference, pages 56-61, 2001.
12. H. Tanner, V. Kumar, and G. Pappas. The effect of feedback and feedforward on formation ISS. In IEEE ICRA, pages 3448-3453, 2002.
13. R. Vidal, O. Shakernia, and S. Sastry. Omnidirectional vision-based formation control. In Fortieth Annual Allerton Conference on Communication, Control and Computing, pages 1625-1634, 2002.