A Vision-Based Formation Control Framework

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dc.contributor.authorDas, Aveek K.
dc.contributor.authorKumar, Vijay
dc.contributor.authorFierro, Rafael
dc.contributor.authorOstrowski, James P.
dc.contributor.authorTaylor, Camillo J.
dc.contributor.authorSpletzer, John
dc.date2023-05-17T04:03:44.000
dc.date.accessioned2023-05-22T23:47:27Z
dc.date.available2023-05-22T23:47:27Z
dc.date.issued2002-10-01
dc.date.submitted2010-09-01T08:53:12-07:00
dc.description.abstractWe describe a framework for cooperative control of a group of nonholonomic mobile robots that allows us to build complex systems from simple controllers and estimators. The resultant modular approach is attractive because of the potential for reusability. Our approach to composition also guarantees stability and convergence in a wide range of tasks. There are two key features in our approach: 1) a paradigm for switching between simple decentralized controllers that allows for changes in formation; 2) the use of information from a single type of sensor, an omnidirectional camera, for all our controllers. We describe estimators that abstract the sensory information at different levels, enabling both decentralized and centralized cooperative control. Our results include numerical simulations and experiments using a testbed consisting of three nonholonomic robots.
dc.description.commentsSuggested Citation: Das, Aveek K. et al. (2002). A Vision-Based Formation Control Framework. IEEE Transactions on Robotics and Automation, Vol. 18(5). p. 813-825. ©2002 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/39956
dc.legacy.articleid1249
dc.legacy.fieldstrue
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1249&context=meam_papers&unstamped=1
dc.source.issue239
dc.source.journalDepartmental Papers (MEAM)
dc.source.peerreviewedtrue
dc.source.statuspublished
dc.subject.otherGRASP
dc.subject.otherEngineering
dc.subject.otherMechanical Engineering
dc.titleA Vision-Based Formation Control Framework
dc.typeArticle
digcom.identifiermeam_papers/239
digcom.identifier.contextkey1522366
digcom.identifier.submissionpathmeam_papers/239
digcom.typearticle
dspace.entity.typePublication
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relation.isAuthorOfPublication27c45c7d-eb96-4e26-a7e7-73cb7f42b30c
relation.isAuthorOfPublication27c45c7d-eb96-4e26-a7e7-73cb7f42b30c
relation.isAuthorOfPublication.latestForDiscovery3baa51e5-8e46-41ad-8508-56c025d0f9f1
upenn.schoolDepartmentCenterDepartmental Papers (MEAM)
upenn.schoolDepartmentCenterGeneral Robotics, Automation, Sensing and Perception Laboratory
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