Cooperative State Estimation in Vision-Based Robot Formation Control via A Consensus Method

摘要：

In this paper, we study a cooperative state estimation problem that is crucial to vision-based formation control of mobile robots. Cameras mounted on the robots are employed to make relative measurements within a formation of robots. Each robot can only measure part of the relative state information, while the rest of the information is measured by other robots. We design a robust consensus method to address this cooperative state estimation problem so that the measurements made by each individual robot are integrated via an information exchange method to obtain a complete description of the formation. This method is then applied to vision-based triangular formation control of mobile robots and verified using experiments.

关键词： Cooperative state estimation consensus multi-robot systems

作者: Joshua Cook Guoqiang Hu Zhi Feng

作者单位: Cessna Aircraft Company in Wichita, KS, USA EXQUISITUS, Centre for E-City, School of Electrical and Electronics Engineering, Nanyang Technologic

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 6461-6466

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）