Vision-based Localization and Control of Leader-Follower Formations
نویسندگان
چکیده
The paper deals with vision-based localization and control of leader-follower formations of unicycle robots. Each robot is equipped with a panoramic camera which only provides the view-angle to the other robots. As an original contribution, the localization problem is analytically studied using a new observability condition valid for general nonlinear systems and based on the Extended Output Jacobian matrix. The state of the leader-follower system, estimated via the extended Kalman filter, is used by an input-state feedback control law to stabilize the formation. Simulations as well as experimental results validate the theoretical results and show the effectiveness of the proposed design.
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