Single view depth estimation based formation control of robotic swarms: Obstacle avoidance, simulation, and practical issues

Abstract

In a companion paper we have presented a practical formation motion control scheme for robotic swarms based on single view depth estimation. In this paper we adapt this control scheme to the cases where there are obstacles to be avoided in the region of interest. First, a set of distributed control laws for the agents, to be incorporated with depth… (More)

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