Vision-based Distributed Coordination and Flocking of Multi-agent Systems

@inproceedings{Moshtagh2005VisionbasedDC,
  title={Vision-based Distributed Coordination and Flocking of Multi-agent Systems},
  author={Nima Moshtagh and Ali Jadbabaie and Kostas Daniilidis},
  booktitle={Robotics: Science and Systems},
  year={2005}
}
We propose a biologically inspired, distributed coordination scheme based on nearest-neighbor interactions for a set of mobile kinematic agents equipped with vision sensors. It is assumed that each agent is only capable of measuring the following three quantities relative to each of its nearest neighbors (as defined by a proximity graph): time-to-collision, a single optical flow vector and relative bearing. We prove that the proposed distributed control law results in alignment of headings and… CONTINUE READING
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