Vision-Based Localization for Leader–Follower Formation Control

Mariottini, Gian Luca; Morbidi, Fabio; Prattichizzo, Domenico; Valk, Nick Vander; Michael, N.; Pappas, George J.; Daniilidis, Kostas

doi:10.1109/tro.2009.2032975

Cited by 151 publications

(83 citation statements)

References 30 publications

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“…The velocity-tracker enables the quadrotor to track smooth bodyframe reference velocities (u i , w i ) implementing a standard cascaded controller similar to the one used in [45] but without position error terms. These reference velocities are in turn generated by the agent-process, which communicates via a wireless link with the agent processes of the other UAVs and with the controller of the haptic devices in order to eventually compute the (control) velocity terms (u i , w i ) in (20).…”

Section: Experimental Testbedmentioning

confidence: 99%

Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

Franchi

Masone

Grabe

et al. 2012

The International Journal of Robotics Research

104

105

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Abstract-In this paper we address the problem of controlling the motion of a group of UAVs bound to keep a formation defined in terms of only relative angles (i.e., a bearing-formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g., exploration, coverage, and surveillance. First, we introduce and thoroughly analyze the concept and properties of bearing-formations, and provide a class of minimally linear sets of bearings sufficient to uniquely define such formations. We then propose a bearing-only formation controller requiring only bearing measurements, converging almost globally, and maintaining bounded inter-agent distances despite the lack of direct metric information.The controller still leaves the possibility to impose group motions tangent to the current bearing-formation. These can be either autonomously chosen by the robots because of any additional task (e.g., exploration), or exploited by an assisting human co-operator. For this latter 'human-in-the-loop' case, we propose a multi-master/multi-slave bilateral shared control system providing the co-operator with some suitable force cues informative of the UAV performance. The proposed theoretical framework is extensively validated by means of simulations and experiments with quadrotor UAVs equipped with onboard cameras. Practical limitations, e.g., limited field-of-view, are also considered.

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Section: Experimental Testbedmentioning

confidence: 99%

Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

Franchi

Masone

Grabe

et al. 2012

The International Journal of Robotics Research

104

105

View full text Add to dashboard Cite

show abstract

“…While the leadcarrier approach is known for its poor disturbance rejection properties [15] and dependence placed upon a single agent, it is commonly utilized in literature because of its simplicity, scalability, and ability to contain an array of formations with richer specifications and complexities [3,9,11,[15][16][17]. This work deploys a new lead-carrier scheme to establish and control a team fixed in a dual-formation, for the first time.…”

Section: Motivational Workmentioning

confidence: 99%

A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team

Sharma

Vanualailai

Prasad

2017

Journal of Advanced Transportation

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This paper describes the design of new centralized acceleration-based controllers for the multitask problem of motion planning and control of a coordinated lead-carrier team fixed in a dual-formation within an obstacle-ridden environment. A -strategy, where and are Euclidean measures with respect to the lead robot, is developed to ensure virtual connectivity of the carrier robots to the lead robot. This connectivity, built into the system itself, inherently ensures globally rigid formation between each lead-carrier pair of the team. Moreover, a combination of target configuration, -strategy, orientation consensus, and avoidance of end-effector of robots results in a second, locally rigid formation (not infinitesimally rigid). Therefore, for the first time, a dual-formation control problem of a lead-carrier team of mobile manipulators is considered. This and other kinodynamic constraints have been treated simultaneously via the overarching Lyapunov-based control scheme, essentially a potential field method favored in the field of robotics. The formulation of this new scheme, demonstrated effectively via computer simulations, is timely, given that the current proposed engineering solutions, allowing autonomous vehicles on public roads, include the development of special lanes imbued with special sensors and wireless technologies.

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“…The relevant applications have arisen in marine engineering including collaborative antisubmarine, costal patrols, environmental monitoring, disaster search, and underway ship replenishment, to name just a few. Many researchers have made contributions to the formation control, and several methods have been proposed including leader-follower method [1][2][3][4][5], virtual structure strategy [6,7], behavior-based approach [8,9], graph theorybased method [10][11][12], and artificial potential method [13].…”

Section: Introductionmentioning

confidence: 99%

“…The other type for -formation control requires the local sensors such as radar or sonar to measure the vehicles' states and copes with noises which are bad for measurements, such that the robots in [2,22] were equipped with omnidirectional cameras, which had 360-degree views of surroundings. In [5], each unicycle robot was equipped with a panoramic camera that only provides the view angle to the other robots. In [23], a constructive method was proposed to force a group of multimobile robots to stabilize at a desired location, where the robots were with limited sensing ranges.…”

Section: Introductionmentioning

confidence: 99%

Formation Control of Unmanned Surface Vehicles with Sensing Constraints Using Exponential Remapping Method

Wang

Liu

Hong

2017

Mathematical Problems in Engineering

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This paper presents a formation control strategy for unmanned surface vehicles (USVs) with sensing constraints moving in a leaderfollower formation. Each USV is assumed to be equipped with a vision-based sensor, which is able to get the line-of-sight (LOS) range and bearing information. Most existing literature assumes that the USVs in formation control are with no sensing limitations or with 360-degree sensing fields; however, in our research, the vision-based sensor's capability is restricted due to limited Field of View (FOV) and visual range. We consider that each USV in formation problem is equipped with a sector-like sensing field sensor for the leader-follower formation in two-dimensional space. The formation controller is developed by employing backstepping control technique and exponential remapping. The backstepping controller is designed to stabilize the triangular formation of three USVs, and the proposed exponential remapping method is to deal with the sector-like sensing constraint problem. Comparative analysis with three exponential remapping methods using numerical simulations is given to demonstrate the effectiveness of the proposed method.

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Vision-Based Localization for Leader–Follower Formation Control

Cited by 151 publications

References 30 publications

Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

Modeling and Control of UAV Bearing Formations with Bilateral High-level Steering

A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team

Formation Control of Unmanned Surface Vehicles with Sensing Constraints Using Exponential Remapping Method

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