Relative Constraints and Their Contribution to Image Configurations

Hurwitz, Dror; Filin, Sagi; Klein, Itzik

doi:10.1109/jsen.2023.3242907

Cited by 1 publication

(2 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where the pose of the leader robot (x 1 , y 1 , θ 1 ) is taken from Equation (19). The H leader (k) matrix is as follows:…”

Section: Pose Prediction Of Leader Robotmentioning

confidence: 99%

See 1 more Smart Citation

Leader–Follower Approach for Non-Holonomic Mobile Robots Based on Extended Kalman Filter Sensor Data Fusion and Extended On-Board Camera Perception Controlled with Behavior Tree

Joon,

Kowalczyk

2023

Sensors

View full text Add to dashboard Cite

This paper presents a leader–follower mobile robot control approach using onboard sensors. The follower robot is equipped with an Intel RealSense camera mounted on a rotating platform. Camera observations and ArUco markers are used to localize the robots to each other and relative to the workspace. The rotating platform allows the expansion of the perception range. As a result, the robot can use observations that are not within the camera’s field of view at the same time in the localization process. The decision-making process associated with the control of camera rotation is implemented using behavior trees. In addition, measurements from encoders and IMUs are used to improve the quality of localization. Data fusion is performed using the EKF filter and allows the user to determine the robot’s poses. A 3D-printed cuboidal tower is added to the leader robot with four ArUco markers located on its sides. Fiducial landmarks are placed on vertical surfaces in the workspace to improve the localization process. The experiments were performed to verify the effectiveness of the presented control algorithm. The robot operating system (ROS) was installed on both robots.

show abstract

“…where the pose of the leader robot (x 1 , y 1 , θ 1 ) is taken from Equation (19). The H leader (k) matrix is as follows:…”

Section: Pose Prediction Of Leader Robotmentioning

confidence: 99%

“…The paper [19] represents a fusion system with the combination of technologies INS, EKF, IMU, GNSS, and information from ArUco markers. The paper [20] represents the follower robot recognizing the ArUco marker on the clothes worn by the factory worker.…”

Section: Introductionmentioning

confidence: 99%

Leader–Follower Approach for Non-Holonomic Mobile Robots Based on Extended Kalman Filter Sensor Data Fusion and Extended On-Board Camera Perception Controlled with Behavior Tree

Joon,

Kowalczyk

2023

Sensors

View full text Add to dashboard Cite

show abstract

Relative Constraints and Their Contribution to Image Configurations

Cited by 1 publication

References 24 publications

Leader–Follower Approach for Non-Holonomic Mobile Robots Based on Extended Kalman Filter Sensor Data Fusion and Extended On-Board Camera Perception Controlled with Behavior Tree

Leader–Follower Approach for Non-Holonomic Mobile Robots Based on Extended Kalman Filter Sensor Data Fusion and Extended On-Board Camera Perception Controlled with Behavior Tree

Contact Info

Product

Resources

About