Maintaining visibility of a moving holonomic target at a fixed distance with a non-holonomic robot

Murrieta-Cid, Rafael; Muñoz-Gómez, Lourdes; Alencastre-Miranda, Moisés; Sarmiento, Alejandro; Kloder, S.; Hutchinson, Seth; Lamiraux, Florent; Laumond, Jean–Paul

doi:10.1109/iros.2005.1545275

Cited by 9 publications

(6 citation statements)

References 25 publications

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“…Substituting the expressions above into (18) and after some algebra one can verify that the analytical expression for the worst case safe turning radius R F w = R F c r is given by (17). 5 It follows that if L moves into cell i + 1 with turning radius R L ≥ r d 2 + R F w 2 , then the trajectories of F in cells i and i + 1 are collision-free.…”

Section: A Motion Coordination In a Corridor Environmentmentioning

confidence: 99%

“…The latter specification is the main difference of this current paper compared with other papers on maintaining visibility problems involving robots with field-of-view constraints [10]- [16]. Finally, compared with [18] and [20], here F is not required to have full access on the state vector of L.…”

Section: B Contributionsmentioning

confidence: 99%

“…The corresponding optimal control problems are defined in terms of either the shortest path, or the minimum time, for the evader to escape the visibility region of the observer. In [18] and [20], the authors further discuss the applicability of the derived motion strategies in cooperative leader-following scenarios for mobile robots; in these cases, the follower is assumed to have full access on the leader's configuration and velocities.…”

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confidence: 99%

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Cooperative Visibility Maintenance for Leader–Follower Formations in Obstacle Environments

2014

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Vision-based formation control of multiple agents, such as mobile robots or fully autonomous cars, has recently received great interest due to its application in robotic networks and automated highways. This paper addresses the cooperative motion coordination of leader-follower formations of nonholonomic mobile robots, under visibility and communication constraints in known polygonal obstacle environments. We initially consider the case of N = 2 agents moving in L-F fashion and propose a feedback control strategy under which L ensures obstacle avoidance for both robots, while F ensures visibility maintenance with L and intervehicle collision avoidance. The derived algorithms are based on set-theoretic methods to guarantee visibility maintenance, dipolar vector fields to maintain the formation shape, and the consideration of the formation as a tractor-trailer system to ensure obstacle avoidance. We furthermore show how the coordination and control design extends to the case of N > 2 agents, and provide simulation results, which demonstrate the efficacy of the control solutions. The proposed algorithms do not require information exchange among robots, but are instead based on information locally available to each agent. In this way, the desired tasks are executed and achieved in a decentralized manner, with each robot taking care of converging to a desired configuration, while maintaining visibility with its target.Index Terms-Leader-follower formations, nonholonomic motion planning, path planning for multiple mobile robot systems, visibility maintenance.

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Section: A Motion Coordination In a Corridor Environmentmentioning

confidence: 99%

Section: B Contributionsmentioning

confidence: 99%

mentioning

confidence: 99%

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Cooperative Visibility Maintenance for Leader–Follower Formations in Obstacle Environments

2014

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“…There is a decision problem which corresponds to answering the question: can the target escape the observer's view? Murrieta-Cid et al defined this problem and considered to maintain surveillance of a moving target by a non-holonomic mobile observer (Murrieta-Cid et al 2005). The observer's goal is to maintain visibility of the target from a predefined, fixed distance.…”

Section: Trackingmentioning

confidence: 99%

Active vision in robotic systems: A survey of recent developments

Chen

Kwok

2011

The International Journal of Robotics Research

366

204

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In this paper we provide a broad survey of developments in active vision in robotic applications over the last 15 years. With increasing demand for robotic automation, research in this area has received much attention. Among the many factors that can be attributed to a high-performance robotic system, the planned sensing or acquisition of perceptions on the operating environment is a crucial component. The aim of sensor planning is to determine the pose and settings of vision sensors for undertaking a vision-based task that usually requires obtaining multiple views of the object to be manipulated. Planning for robot vision is a complex problem for an active system due to its sensing uncertainty and environmental uncertainty. This paper describes such problems arising from many applications, e.g. object recognition and modeling, site reconstruction and inspection, surveillance, tracking and search, as well as robotic manipulation and assembly, localization and mapping, navigation and exploration. A bundle of solutions and methods have been proposed to solve these problems in the past. They are summarized in this review while enabling readers to easily refer solution methods for practical applications. Representative contributions, their evaluations, analyses, and future research trends are also addressed in an abstract level.

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“…Maintaining the target in the field of view of the robot's sensory system is another widely discussed topic, 16,[25][26][27][28][29][30] especially in surveillance applications. Different types of sensors are used by the robot, mainly the vision sensors.…”

Section: Introductionmentioning

confidence: 99%

Parallel navigation for reaching a moving goal by a mobile robot

Belkhouche

Rastgoufard

2006

Robotica

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In this paper, we present a method for robot navigation toward a moving object with unknown maneuvers. Our strategy is based on the integration of the robot and the target kinematics equations with geometric rules. The tracking problem is modeled in polar coordinates using a two-dimensional system of differential equations. The control law is then derived based on this model. Our approach consists of a rendezvous course, which means that the robot reaches the moving goal without following its path. In the presence of obstacles, two navigation modes are integrated, namely the tracking and the obstacle-avoidance modes. To confirm our theoretical results, the navigation strategy is illustrated using an extensive simulation for different scenarios.

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Maintaining visibility of a moving holonomic target at a fixed distance with a non-holonomic robot

Cited by 9 publications

References 25 publications

Cooperative Visibility Maintenance for Leader–Follower Formations in Obstacle Environments

Cooperative Visibility Maintenance for Leader–Follower Formations in Obstacle Environments

Active vision in robotic systems: A survey of recent developments

Parallel navigation for reaching a moving goal by a mobile robot

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