Visual control for multirobot organized rendezvous

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 42, Issue 4, 2012, Pages 1155-1168

  López Nicolás, Gonzalo ^a   Aranda, Miguel ^a   Mezouar, Youcef ^b,c   Sagüés, Carlos ^a  

^a UNIVERSITY OF ZARAGOZA   (Spain)

^b UNIVERSITÉ CLERMONT AUVERGNE   (France)

^c UNIVERSITÉ BLAISE PASCAL   (France)

Author keywords

Formation; homography; multiple mobile robots; visual control

Indexed keywords

CONTROL LAWS; CONTROL TASK; FORMATION; HOMOGRAPHIES; IMAGE-BASED CONTROL; MOTION CONSTRAINTS; MULTI-ROBOT SYSTEMS; MULTIPLE MOBILE ROBOT; MULTIROBOTS; NON HOLONOMIC CONSTRAINT; PERCEPTION SYSTEMS; PLANAR MOTION; REFERENCE TARGET; RIGIDITY CONSTRAINT; VISUAL CONTROL; VISUAL INFORMATION;

CAMERAS; CONTROL THEORY; INDUSTRIAL ROBOTS; MOBILE ROBOTS;

ROBOT PROGRAMMING;

EID: 84864130118     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2012.2187639     Document Type: Article

References (30)

1. J.Marshall, M. Broucke, and B. Francis, "Formations of vehicles in cyclic pursuit," IEEE Trans. Autom. Control, vol. 49, no. 11, pp. 1963-1974, Nov. 2004.
2. W. Dong, "Flocking of multiple mobile robots based on backstepping," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 41, no. 2, pp. 414-424, Apr. 2011.
3. J. Ghommam, H. Mehrjerdi, M. Saad, and F. Mnif, "Formation path following control of unicycle-type mobile robots," Robot. Auton. Syst., vol. 58, no. 5, pp. 727-736, 2010.
4. J. Chen, D. Sun, J. Yang, and H. Chen, "Leader-follower formation control of multiple non-holonomic mobile robots incorporating a recedinghorizon scheme," Int. J. Robot. Res., vol. 29, no. 6, pp. 727-747, May 2010.
5. K. Listmann, M. Masalawala, and J. Adamy, "Consensus for formation control of nonholonomic mobile robots," in Proc. IEEE Int. Conf. Robot. Autom., 2009, pp. 3886-3891.
6. B. S. Park, J. B. Park, and Y. H. Choi, "Adaptive formation control of electrically driven nonholonomic mobile robots with limited information," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 41, no. 4, pp. 1061-1075, Aug. 2011.
7. A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, and C. J. Taylor, "A vision-based formation control framework," IEEE Trans. Robot. Autom., vol. 18, no. 5, pp. 813-825, Oct. 2002.
8. P. Yang, R. Freeman, and K. Lynch, "Multi-agent coordination by decentralized estimation and control," IEEE Trans. Autom. Control, vol. 53, no. 11, pp. 2480-2496, Dec. 2008.
9. N.Moshtagh, N. Michael, A. Jadbabaie, and K. Daniilidis, "Vision-based, distributed control laws for motion coordination of nonholonomic robots," IEEE Trans. Robot., vol. 25, no. 4, pp. 851-860, Aug. 2009.
10. J. Alonso-Mora, A. Breitenmoser, M. Rufli, R. Siegwart, and P. Beardsley, "Multi-robot system for artistic pattern formation," in Proc. IEEE Int. Conf. Robot. Autom., 2011, pp. 4512-4517.
11. S. Y. Chen, "Kalman filter for robot vision: A survey," IEEE Trans. Ind. Electron., 2011, DOI: 10.1109/TIE.2011.2162714. [Online]. Available: http://ieeexplore.ieee.org/xpl/freeabs-all.jsp?arnumber=5985520.
12. F. Chaumette and S. Hutchinson, "Visual servo control, part I: Basic approaches," IEEE Robot.Autom.Mag., vol. 13, no. 4, pp. 82-90, Dec. 2006. (Pubitemid 46454544)
13. S. Chen, Y. Li, and N. M. Kwok, "Active vision in robotic systems: A survey of recent developments," Int. J. Robot. Res., vol. 30, no. 11, pp. 1343-1377, Sep. 2011.
14. H. Chen, D. Sun, and J. Yang, "Global localization of multirobot formations using ceiling vision SLAM strategy," Mechatronics, vol. 19, no. 5, pp. 617-628, Aug. 2009.
15. R. Vidal, O. Shakernia, and S. Sastry, "Following the flock: Distributed formation control with omnidirectional vision-based motion segmentation and visual servoing," Robot. Auton. Mag., vol. 11, no. 4, pp. 14-20, Dec. 2004. (Pubitemid 40145959)
16. G. López-Nicolás, J. J. Guerrero, and C. Sagüés, "Visual control of vehicles using two-view geometry," Mechatronics, vol. 20, no. 2, pp. 315-325, Mar. 2010.
17. Y. K. Yu, K. H.Wong, M. M. Y. Chang, and S. H. Or, "Recursive cameramotion estimation with the trifocal tensor," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 36, no. 5, pp. 1081-1090, Oct. 2006. (Pubitemid 44500778)
18. G. Blanc, Y. Mezouar, and P. Martinet, "Indoor navigation of a wheeled mobile robot along visual routes," in Proc. IEEE Int. Conf. Robot. Autom., 2005, pp. 3365-3370.
19. Y. Fang, W. E. Dixon, D. M. Dawson, and P. Chawda, "Homographybased visual servo regulation of mobile robots," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 35, no. 5, pp. 1041-1050, Oct. 2005. (Pubitemid 41444586)
20. J. Courbon, Y. Mezouar, and P. Martinet, "Indoor navigation of a nonholonomic mobile robot using a visual memory," Auton. Robots, vol. 25, no. 3, pp. 253-266, Oct. 2008.
21. G. López-Nicolás, N. R. Gans, S. Bhattacharya, J. J. Guerrero, C. Sagüés, and S. Hutchinson, "Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints," IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 40, no. 4, pp. 1115-1127, Aug. 2010.
22. A. Milano, A. Priolo, A. Gasparri, M. Di Rocco, and G. Ulivi, "An experimental validation of a low-cost indoor relative position localizing system for mobile robotic networks," in Proc. Mediterranean Conf. Control Autom., 2011, pp. 169-174.
23. G. López-Nicolás, Y. Mezouar, and C. Sagüés, "Homography-based multi-robot control with a flying camera," in Proc. IEEE Int. Conf. Robot. Autom., 2011, pp. 4492-4497.
24. R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision., 2nd ed. Cambridge, U.K.: Cambridge Univ. Press, 2004.
25. R. T. Collins and J. R. Beveridge, "Matching perspective views of coplanar structures using projective unwarping and similarity matching," in Proc. IEEE Conf. Comput. Vis. Pattern Recognit., 1993, pp. 240-245.
26. O. Faugeras, "Stratification of three-dimensional vision: Projective, affine, and metric representations," J. Opt. Soc. Amer. A, vol. 12, no. 3, pp. 465-484, Mar. 1995.
27. D. Liebowitz and A. Zisserman, "Metric rectification for perspective images of planes," in Proc. IEEE Conf. Comput. Vis. Pattern Recognit., 1998, pp. 482-488.
28. Y. Chen and H. H. S. Ip, "Planar metric rectification by algebraically estimating the image of the absolute conic," in Proc. IEEE Int. Conf. Pattern Recognit., 2004, vol. 4, pp. 88-91.
29. S. Mastellone, D. M. Stipanovic, C. R. Graunke, K. A. Intlekofer, and M. W. Spong, "Formation control and collision avoidance for multi-agent non-holonomic systems: Theory and experiments," Int. J. Robot. Res., vol. 27, no. 1, pp. 107-126, Jan. 2008. (Pubitemid 350261242)
30. J. Snape, J. van den Berg, S. Guy, and D. Manocha, "The hybrid reciprocal velocity obstacle," IEEE Trans. Robot., vol. 27, no. 4, pp. 696-706, Aug. 2011.