Brief paper: Leader-follower formation control of nonholonomic mobile robots with input constraints
Automatica (Journal of IFAC)
Robust and self-repairing formation control for swarms of mobile agents
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 1
Entropy-based motion segmentation from a moving platform
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robot Formations Using a Single Camera and Entropy-based Segmentation
Journal of Intelligent and Robotic Systems
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This paper presents a new vision-based leader-follower formation algorithm where the leader's trajectory is unknown to the robots which are following. Formation schemes in straight lines and diagonal formations are introduced which are both stable and observable in the presence of limited views. The algorithms are novel since they only use local image measurements through a pinhole camera to estimate the leader's position. This approach does not require specialized markings nor extensive robot communications. The algorithms are also decentralized. We apply an input-output feedback linearization for system stability and utilize an Extended Kalman Filter (EKF) for estimation. Simulations illustrate how the proposed formation controls work. Real experiments utilizing multiple miniature robots are also presented and illustrate the challenges associated with noisy images in real-world applications.