Control of Multiple Robots Using Vision Sensors.

Intro -- Series Editors' Foreword -- Preface -- Acknowledgements -- Contents -- 1 Introduction -- 1.1 Motivation and Background -- 1.1.1 Computer Vision and Multiple-View Geometry -- 1.1.2 Visual Control of Mobile Robots -- 1.1.3 Multirobot Systems -- 1.1.4 Applications of Vision-Based Multirobot Control -- 1.2 Summary of Contributions -- 1.3 Outline of the Monograph -- References -- 2 Angle-Based Navigation Using the 1D Trifocal Tensor -- 2.1 Introduction -- 2.1.1 Related Work -- 2.1.2 Contributions Relative to the Literature -- 2.2 Computation of the Reference Set Angles -- 2.2.1 Angles from the 1D Trifocal Tensor -- 2.2.2 Complete Solution of Four-View Sets -- 2.3 Homing Strategy -- 2.3.1 Control Law -- 2.3.2 Method Implementation -- 2.3.3 Stability Analysis -- 2.4 Experimental Results -- 2.4.1 Simulations -- 2.4.2 Experiments with Real Images -- 2.5 Discussion -- 2.5.1 Comparison with Existing Work -- 2.5.2 Practical and Performance-Related Considerations -- 2.5.3 Summary -- References -- 3 Vision-Based Control for Nonholonomic Vehicles -- 3.1 Introduction -- 3.2 System Model -- 3.3 Sinusoidal Input-Based Control Scheme -- 3.3.1 Evolution of the System -- 3.3.2 Feedback Estimation of Control Parameters -- 3.4 1D Trifocal Tensor-Based Depth Correction -- 3.5 State Estimation Through the 1D Trifocal Tensor -- 3.6 Method Implementation -- 3.7 Stability Analysis -- 3.8 Experimental Results -- 3.8.1 Simulations -- 3.8.2 Experiments on a Real Robot -- 3.9 Discussion -- 3.9.1 Practical Considerations -- 3.9.2 Method Properties and Possible Uses -- 3.9.3 Summary -- References -- 4 Controlling Mobile Robot Teams from 1D Homographies -- 4.1 Introduction -- 4.2 Planar Motion Estimation Using 1D Homographies -- 4.2.1 Motion from the 2D Homography -- 4.2.2 Motion from the 1D Homography -- 4.2.3 Experiments on Planar Motion Estimation.

4.3 1D Homography-Based Multirobot Formation Control -- 4.3.1 Use of 1D Homographies for Multirobot Control -- 4.3.2 State Observer -- 4.3.3 Control Strategy -- 4.3.4 Method Implementation -- 4.3.5 Simulation Results for the Multirobot Control Scheme -- 4.4 Discussion -- References -- 5 Control of Mobile Robot Formations Using Aerial Cameras -- 5.1 Introduction -- 5.2 Homography-Based Framework -- 5.2.1 Desired Image Points for Minimal Cost -- 5.2.2 Desired Homography Parametrization and Computation -- 5.3 Multicamera Coordinated Visual Control -- 5.3.1 Multicamera Framework and Coordinate Systems -- 5.3.2 Visual Control Law -- 5.3.3 Method Implementation -- 5.3.4 Stability Analysis -- 5.4 Camera Motion Control -- 5.5 Simulations -- 5.6 Experiments with Real Robots -- 5.7 Discussion -- References -- 6 Coordinate-Free Control of Multirobot Formations -- 6.1 Introduction -- 6.2 Coordinate-Free Stabilization of a Distributed Networked Team -- 6.2.1 Problem Formulation -- 6.2.2 Coordinate-Free Control Strategy -- 6.2.3 Stability Analysis -- 6.2.4 Simulations -- 6.3 Distributed Formation Stabilization in Local Coordinates -- 6.3.1 Problem Formulation and Background -- 6.3.2 Control Strategy -- 6.3.3 Stability Analysis -- 6.3.4 Discussion of Valid Formation Graph Topologies -- 6.3.5 Simulations -- 6.4 Enclosing a Target in 3D Space via Coordinate-Free Formation Control -- 6.4.1 Problem Formulation -- 6.4.2 Target Enclosing Strategy -- 6.4.3 Stability Analysis -- 6.4.4 Method Properties -- 6.4.5 Simulations -- 6.5 Discussion -- References -- 7 Conclusions and Directions for Future Research -- Index.

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Electronic reproduction. Ann Arbor, Michigan : ProQuest Ebook Central, 2024. Available via World Wide Web. Access may be limited to ProQuest Ebook Central affiliated libraries.