The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
A vision-based formation control framework
Open accessAbstract
We describe a framework for cooperative control of a group of nonholonomic mobile robots that allows us to build complex systems from simple controllers and estimators. The resultant modular approach is attractive because of the potential for reusability. Our approach to composition also guarantees stability and convergence in a wide range of tasks. There are two key features in our approach: 1) a paradigm for switching between simple decentralized controllers that allows for changes in formation; 2) the use of information from a single type of sensor, an omnidirectional camera, for all our controllers. We describe estimators that abstract the sensory information at different levels, enabling both decentralized and centralized cooperative control. Our results include numerical simulations and experiments using a testbed consisting of three nonholonomic robots.
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Cites
A robust layered control system for a mobile robot
Brooks, R. (1986) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1986.1087032 · Cited by 7,799 · cited 1×
“Successful applications of this idea are found in subsumption architectures [11], behavior-based robotics [12], and other works [13].”
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Cited by
Cooperative Multi-agent Control Using Deep Reinforcement Learning
Gupta, J. K., Egorov, M., & Kochenderfer, M. (2017) · Lecture Notes in Computer Science · doi:10.1007/978-3-319-71682-4_5 · Cited by 874
Peng, Z., Wang, D., Chen, Z., Hu, X., & Lan, W. (2013) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2011.2181513 · Cited by 517
Image and animation display with multiple mobile robots
Alonso-Mora, J., Breitenmoser, A., Rufli, M., Siegwart, R., & Beardsley, P. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364912442095 · Cited by 100
Metadata
- Authors
- Das, A. K., Fierro, R., Kumar, V., Ostrowski, J. P., Spletzer, J., & Taylor, C. J.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2002-10
- Volume
- 18
- Issue
- 5
- Pages
- 813-825
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2165413656
- Cited by
- 1,146
- References
- 1
- FWCI
- 33.14
- Type
- journal article
- Language
- en
- Open access
- green
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- Das, A. K., Fierro, R., Kumar, V., Ostrowski, J. P., Spletzer, J., & Taylor, C. J. (2002). A vision-based formation control framework. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/tra.2002.803463
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