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

@inproceedings{Vidal2003FormationCO,
  title={Formation control of nonholonomic mobile robots with omnidirectional visual servoing and motion segmentation},
  author={Ren{\'e} Vidal and Omid Shakernia and S. Shankar Sastry},
  booktitle={ICRA},
  year={2003}
}
We consider the problem of having a team of nonholonomic mobile robots follow a desired leader-follower formation using omnidirectional vision. By specifying the desired formation in the image plane, we translate the control problem into a separate visual servoing task for each follower. We use a rank constraint on the omnidirectional optical flows across multiple frames to estimate the position and velocities of the leaders in the image plane of each follower. We show that the direct feedback… CONTINUE READING
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