Attitude Consensus Using Networks of Uncalibrated Cameras
This paper addresses the problem of consensus on SO(3) for networks of uncalibrated cameras.Under the assumption of a pinhole camera model,we prove convergence to the consensus manifold for two types of kinematic control laws,when only conjugate rotation matrices KRK?1 are available among the agents.In these conjugate rotations,the rotation matrices are distorted by the (unknown) intrinsic parameters of the cameras.For the conjugate rotations,we introduce distorted versions of well known local parameterizations of SO(3) and show consensus by using three types of control laws.The control laws are similar to the standard consensus protocol used for systems of agents with single integrator dynamics,where pairwise differences between the states of neighboring agents are used.By considering the restriction to the planar case (when all the rotations have the same rotational axes),we weaken the assumptions on the cameras in the system and consider networks where the camera matrices differ between agents.
Attitude consensus Camera Networks Multi-Agent Systems Switching Systems
THUNBERG Johan HU Xiaoming
Department of mathematics,KTH Royal Institute of Technology,Stockholm S-100 44,Sweden
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1444-1451
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）