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.
Document type :
Conference papers
Complete list of metadatas

Cited literature [24 references]  Display  Hide  Download

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00108919
Contributor : Christine Carvalho de Matos <>
Submitted on : Wednesday, May 4, 2016 - 8:03:56 AM
Last modification on : Saturday, July 28, 2018 - 8:44:03 PM
Long-term archiving on : Tuesday, November 15, 2016 - 7:47:39 PM

File

iros04.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : lirmm-00108919, version 1

Citation

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. ⟨lirmm-00108919⟩

Share

Metrics

Record views

175

Files downloads

424