Vision-Based Distributed Formation Control Without an External Positioning System

In this paper, we present a fully distributed solution to drive a team of robots to reach a desired formation in the absence of an external positioning system that localizes them. Our solution addresses two fundamental problems that appear in this context. First, we propose a 3-D distributed control...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 32; no. 2; pp. 339 - 351
Main Authors:	Montijano, Eduardo, Cristofalo, Eric, Dingjiang Zhou, Schwager, Mac, Sagues, Carlos
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.04.2016 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Aerial robotics Algorithms Cameras Controllers Convergence distributed robot systems Estimates Formations Hardware Kinematics Measurement motion control Orientation Robot kinematics Robot vision systems Robots Simulation Three dimensional visual servoing visual servoing motion control Aerial robotics distributed robot systems
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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