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Towards a Reliable Vision-Based Mobile Robot Formation Control

Abstract : In this article, a robot formation control strategy based on a vision-based follow-the-leader scenario is pro- posed, with emphasize on its reliability. On the one hand, perception is enhanced by the control of a motorized zoom. On the other hand, bidirectional and non-oblivious [1] control is implemented, with an odometry-based fault detection of vision-based information and a leader path-planning strategy to improve its visibility. After introduction of the control strategy, extensive experimental results are presented.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00108919
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Pierre Renaud, Enric Cervera, Philippe Martinet. Towards a Reliable Vision-Based Mobile Robot Formation Control. IROS: Intelligent RObots and Systems, Sep 2004, Sendai, Japan. pp.3176-3181, ⟨10.1109/IROS.2004.1389906⟩. ⟨lirmm-00108919⟩

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