Single view depth estimation based formation control of robotic swarms: Fundamental design and analysis

@article{Zhai2008SingleVD,
  title={Single view depth estimation based formation control of robotic swarms: Fundamental design and analysis},
  author={Shaohao Zhai and Barış Fidan},
  journal={2008 16th Mediterranean Conference on Control and Automation},
  year={2008},
  pages={1156-1161}
}
This paper presents a practical formation motion control scheme for robotic swarms based on single view depth estimation. The single view depth estimation for each robot in the swarm is performed using a single non-sophisticated camera on the agent, and the prior information about the heights of the robots and other objects in the estimation. Here, a non-sophisticated camera means one that has limited field of view and limited resolution. First, the vision mechanism is analyzed and a single… CONTINUE READING