Single-View Distance-Estimation-Based Formation Control of Robotic Swarms

  title={Single-View Distance-Estimation-Based Formation Control of Robotic Swarms},
  author={Baris Fidan and Veysel Gazi and Shaohao Zhai and Na Cen and Engin Karatas},
  journal={IEEE Transactions on Industrial Electronics},
This paper presents a practical formation motion control scheme for robotic swarms based on single-view distance estimation, which is performed using a single nonsophisticated camera on each robot agent, and the prior information about the heights of the robots and other objects in the environment. Here, a nonsophisticated camera means one that has limited field of view and limited resolution. First, the vision mechanism is analyzed, and a single-view distance estimation scheme is designed… CONTINUE READING
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