Localization and Tracking in Robot Networks
نویسندگان
چکیده
We are interested in the real time pose estimation of a group of networked mobile robots based on exteroceptive information from their vision systems. Additionally, we are also interested in simultaneously tracking a rigid unknown object. We present a localization and object tracking approach based on statistical operators and simple graph searching algorithms. The approach was implemented in our team of five car like robots equipped with omni-directional video cameras and IEEE 802.11b wireless networking. Comments From the Proceedings of the 11th International Conference on Advanced Robotics (ICAR 2003), held June 30-July 3, 2003, Coimbra, Portugal. This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/meam_papers/39 Localization and Tracking in Robot Networks Guilherme A. S. Pereira Vijay Kumar Mario F. M. Campos VERLab, Universidade Federal de Minas Gerais, Belo Horizonte, MG, Brazil. GRASP Lab., University of Pennsylvania, Philadelphia, PA, USA. {gpereira, mario}@dcc.ufmg.br, [email protected]
منابع مشابه
Trajectory Tracking of a Mobile Robot Using Fuzzy Logic Tuned by Genetic Algorithm (TECHNICAL NOTE)
In recent years, soft computing methods, like fuzzy logic and neural networks have been presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions an...
متن کاملSaturated Neural Adaptive Robust Output Feedback Control of Robot Manipulators:An Experimental Comparative Study
In this study, an observer-based tracking controller is proposed and evaluatedexperimentally to solve the trajectory tracking problem of robotic manipulators with the torque saturationin the presence of model uncertainties and external disturbances. In comparison with the state-of-the-artobserver-based controllers in the literature, this paper introduces a saturated observer-based controllerbas...
متن کاملMap-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملA Novel Robust Adaptive Trajectory Tracking in Robot Manipulators
In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...
متن کاملEffects of Moving Landmark’s Speed on Multi-Robot Simultaneous Localization and Mapping in Dynamic Environments
Even when simultaneous localization and mapping (SLAM) solutions have been broadly developed, the vast majority of them relate to a single robot performing measurements in static environments. Researches show that the performance of SLAM algorithms deteriorates under dynamic environments. In this paper, a multi-robot simultaneous localization and mapping (MR-SLAM) system is implemented within a...
متن کامل