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Title: Single view depth estimation based formation control of robotic swarms: Implementation using realistic robot simulator
Authors: Gazi, Veysel
Fidan, B.
Zhai S.
Keywords: Non-holonomic constraints
Non-sophisticated camera
Robotic swarms
Single view depth estimation
Vision based formation control
Issue Date: 2008
Publisher: World Scientific Publishing Co. Pte Ltd
Source: 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008, 8 September 2008 through 10 September 2008, Coimbra, 99977
Abstract: In earlier articles we had developed a formation control method based on single view depth estimation. In this paper, we implement that strategy on a robotic swarm composed of non-holonomic agents using the physics based Webots robot simulator. First, we review the single view depth estimation based scheme and the distributed control laws for the agents. Then, we discuss the related modifications due to the non-holonomic constraints of the agents and some related implementation issues and present some simulation results obtained using the proposed control scheme. The scheme is based completely on local information implying that neither global position information nor communication between robots are needed for the implementation of the algorithm. Copyright © 2008 by World Scientific Publishing Co. Pte. Ltd.
ISBN: 9812835768; 9789812835765
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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