Formation Control Driven by Cooperative Object Tracking

In this paper we introduce a formation control loop that maximizes the performance of the cooperative perception of a tracked target by a team of mobile robots, while maintaining the team in formation, with a dynamically adjustable geometry which is a function of the quality of the target perception...

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Bibliographic Details
Main Author: Lima, Pedro (author)
Other Authors: Ahmada, Aamir (author), Dias, André (author), Conceição, André (author), Moreira, António (author), Silva, Eduardo (author), Almeida, Luís (author), Oliveira, Luís (author), Nascimento, Tiago (author)
Format: article
Language:eng
Published: 2015
Subjects:
Formation control
Formation state estimation
Model predictive control
Cooperative perception
Indoor soccer robots
Outdoor land and aerial robots
Target tracking
Online Access:http://hdl.handle.net/10400.22/7188
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/7188

Internet

http://hdl.handle.net/10400.22/7188

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