Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben
Erschienen in:
Buchtitelbild

2017 | OriginalPaper | Buchkapitel

1. Introduction

verfasst von : Miguel Aranda, Gonzalo López-Nicolás, Carlos Sagüés

Erschienen in: Control of Multiple Robots Using Vision Sensors

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

We begin the book with an introduction of the topics that it addresses. The background on vision-based multirobot control and the arguments that motivate its study are provided in this chapter. In this discussion, we consider separately three topics pertaining to the overall thematic framework of the monograph, namely computer vision, visual control, and multirobot systems. We also cover possible applications of the research advances and technologies that are presented. Finally, the contributions described in the book are summarized, and an outline of its contents is provided.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Jetzt informieren
Nächstes Kapitel Angle-Based Navigation Using the 1D Trifocal Tensor
Literatur
1.
Kim SH, Roh C, Kang SC, Park MY (2007) Outdoor navigation of a mobile robot using differential GPS and curb detection. In: IEEE international conference on robotics and automation, pp 3414–3419
2.
Michael N, Mellinger D, Lindsey Q, Kumar V (2010) The GRASP multiple micro-UAV testbed. IEEE Robot Autom Mag 17(3):56–65CrossRef
3.
Urcola P, Montano L (2011) Adapting robot team behavior from interaction with a group of people. In: IEEE/RSJ international conference on intelligent robots and systems, pp 2887–2894
4.
Han J, Shao L, Xu D, Shotton J (2013) Enhanced computer vision with Microsoft Kinect sensor: a review. IEEE Trans Cybern 43(5):1318–1334CrossRef
5.
Grosso E, Tistarelli M (1995) Active/dynamic stereo vision. IEEE Trans Pattern Anal Mach Intell 17(9):868–879CrossRef
6.
Stockman G, Shapiro LG (2001) Computer vision. Prentice Hall, Englewood Cliffs
7.
Lowe DG (2004) Distinctive image features from scale-invariant keypoints. Int J Comput Vis 60(2):91–110CrossRef
8.
Hartley RI, Zisserman A (2004) Multiple view geometry in computer vision, 2nd edn. Cambridge University Press, CambridgeCrossRefMATH
9.
Ma Y, Soatto S, Kosecka J, Sastry S (2003) An invitation to 3D vision. Springer, BerlinMATH
10.
Faugeras O, Luong QT, Papadopoulou T (2001) The geometry of multiple images. MIT Press, CambridgeMATH
11.
Åström K, Oskarsson M (2000) Solutions and ambiguities of the structure and motion problem for 1D retinal vision. J Math Imag Vis 12(2):121–135MathSciNetCrossRefMATH
12.
Quan L (2001) Two-way ambiguity in 2D projective reconstruction from three uncalibrated 1D images. IEEE Trans Pattern Anal Mach Intell 23(2):212–216CrossRef
13.
Fischler MA, Bolles RC (1981) Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun ACM 24(6):381–395MathSciNetCrossRef
14.
Corke PI (1996) Visual control of robots: high-performance visual servoing. Wiley, New York
15.
Hutchinson S, Hager GD, Corke PI (1996) A tutorial on visual servo control. IEEE Trans Robot Autom 12(5):651–670CrossRef
16.
Chaumette F, Hutchinson S (2006) Visual servo control, part I: basic approaches. IEEE Robot Autom Mag 13(4):82–90CrossRef
17.
Chaumette F, Hutchinson S (2007) Visual servo control, part II: advanced approaches. IEEE Robot Autom Mag 14(1):109–118CrossRef
18.
19.
López-Nicolás G, Mezouar Y (2014) Visual control of mobile robots. Robot Auton Syst 62(11):1611–1612CrossRef
20.
Espiau B, Chaumette F, Rives P (1992) A new approach to visual servoing in robotics. IEEE Trans Robot Autom 8(3):313–326CrossRef
21.
Malis E, Chaumette F, Boudet S (1999) 2 1/2 D visual servoing. IEEE Trans Robot Autom 15(2):238–250CrossRef
22.
Andreff N, Espiau B, Horaud R (2000) Visual servoing from lines. In: IEEE international conference on robotics and automation, pp 2070–2075
23.
Corke PI, Hutchinson SA (2001) A new partitioned approach to image-based visual servo control. IEEE Trans Robot Autom 17(4):507–515CrossRef
24.
Mezouar Y, Chaumette F (2002) Path planning for robust image-based control. IEEE Trans Robot Autom 18(4):534–549CrossRef
25.
Tahri O, Chaumette F (2005) Point-based and region-based image moments for visual servoing of planar objects. IEEE Trans Robot 21(6):1116–1127CrossRef
26.
Mariottini GL, Prattichizzo D (2008) Image-based visual servoing with central catadioptric camera. Int J Robot Res 27(1):41–57CrossRef
27.
Becerra HM, López-Nicolás G, Sagüés C (2010) Omnidirectional visual control of mobile robots based on the 1D trifocal tensor. Robot Auton Syst 58(6):796–808CrossRef
28.
López-Nicolás G, Gans NR, Bhattacharya S, Sagüés C, Guerrero JJ, Hutchinson S (2010) Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints. IEEE Trans Syst Man Cybern B Cybern 40(4):1115–1127CrossRef
29.
Tahri O, Mezouar Y, Chaumette F, Corke PI (2010) Decoupled image-based visual servoing for cameras obeying the unified projection model. IEEE Trans Rob 26(4):684–697CrossRef
30.
Silveira G, Malis E (2012) Direct visual servoing: vision-based estimation and control using only nonmetric information. IEEE Trans Rob 28(4):974–980CrossRef
31.
Geyer C, Daniilidis K (2000) A unifying theory for central panoramic systems and practical implications. In: European conference on computer vision, pp 445–461
32.
Dudek G, Jenkin MRM, Milios E, Wilkes D (1996) A taxonomy for multi-agent robotics. Auton Robot 3(4):375–397CrossRef
33.
Parker LE (2003) Current research in multirobot systems. Artif Life Robot 7(2–3):1–5CrossRef
34.
Becker A, Onyuksel C, Bretl T, McLurkin J (2014) Controlling many differential-drive robots with uniform control inputs. Int J Robot Res 33(13):1626–1644CrossRef
35.
Rubenstein M, Cornejo A, Nagpal R (2014) Programmable self-assembly in a thousand-robot swarm. Science 345(6198):795–799CrossRef
36.
Dunbar WB, Caveney DS (2012) Distributed receding horizon control of vehicle platoons: stability and string stability. IEEE Trans Autom Control 57(3):620–633MathSciNetCrossRef
37.
Cortés J, Martínez S, Karatas T, Bullo F (2004) Coverage control for mobile sensing networks. IEEE Trans Robot Autom 20(2):243–255CrossRef
38.
Bullo F, Cortés J, Martínez S (2009) Distributed control of robotic networks. Princeton University Press, PrincetonCrossRefMATH
39.
Schwager M, Julian B, Angermann M, Rus D (2011) Eyes in the sky: decentralized control for the deployment of robotic camera networks. Proc IEEE 99(9):1541–1561CrossRef
40.
Montijano E, Sagüés C (2015) Distributed consensus with visual perception in multi-robot systems. Springer, BerlinCrossRefMATH
41.
Tanner HG, Loizou SG, Kyriakopoulos KJ (2003) Nonholonomic navigation and control of cooperating mobile manipulators. IEEE Trans Robot Autom 19(1):53–64CrossRef
42.
Lindsey Q, Mellinger D, Kumar V (2012) Construction with quadrotor teams. Auton Robot 33(3):323–336CrossRef
43.
Burgard W, Moors M, Stachniss C, Schneider FE (2005) Coordinated multi-robot exploration. IEEE Trans Rob 21(3):376–386CrossRef
44.
Cunningham A, Wurm KM, Burgard W, Dellaert F (2012) Fully distributed scalable smoothing and mapping with robust multi-robot data association. In: IEEE international conference on robotics and automation, pp 1093–1100
45.
Murphy RR, Dreger KL, Newsome S, Rodocker J, Slaughter B, Smith R, Steimle E, Kimura T, Makabe K, Kon K, Mizumoto H, Hatayama M, Matsuno F, Tadokoro S, Kawase O (2012) Marine heterogeneous multirobot systems at the great Eastern Japan Tsunami recovery. Journal of Field Robotics 29(5):819–831CrossRef
46.
Michael N, Shen S, Mohta K, Mulgaonkar Y, Kumar V, Nagatani K, Okada Y, Kiribayashi S, Otake K, Yoshida K, Ohno K, Takeuchi E, Tadokoro S (2012) Collaborative mapping of an earthquake-damaged building via ground and aerial robots. J Field Robot 29(5):832–841CrossRef
47.
Bhattacharya S, Ghrist R, Kumar V (2014) Multi-robot coverage and exploration on Riemannian manifolds with boundary. Int J Robot Res 33(1):113–137CrossRef
48.
Alonso-Mora J, Breitenmoser A, Rufli M, Siegwart R, Beardsley P (2012) Image and animation display with multiple mobile robots. Int J Robot Res 31(6):753–773CrossRef
49.
Balch T, Arkin RC (1999) Behavior-based formation control for multi-robot teams. IEEE Trans Robot Autom 14(6):926–939CrossRef
50.
Desai JP, Ostrowski JP, Kumar V (2001) Modeling and control of formations of nonholonomic mobile robots. IEEE Trans Robot Autom 17(6):905–908CrossRef
51.
Lin Z, Francis B, Maggiore M (2005) Necessary and sufficient graphical conditions for formation control of unicycles. IEEE Trans Autom Control 50(1):121–127MathSciNetCrossRef
52.
Mesbahi M, Egerstedt M (2010) Graph theoretic methods in multiagent networks. Princeton University Press, PrincetonCrossRefMATH
53.
Lin J, Morse AS, Anderson BDO (2007) The multi-agent rendezvous problem. Part 1: the synchronous case. SIAM J Control Optim 46(6):2096–2119MathSciNetCrossRefMATH
54.
55.
Cortés J, Martínez S, Bullo F (2006) Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions. IEEE Trans Autom Control 51(8):1289–1298MathSciNetCrossRef
56.
Reynolds CW (1987) Flocks, herds and schools: a distributed behavioral model. SIGGRAPH Comput Graph 21(4):25–34CrossRef
57.
Jadbabaie A, Lin J, Morse AS (2003) Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans Autom Control 48(6):988–1001MathSciNetCrossRef
58.
Zavlanos MM, Tanner HG, Jadbabaie A, Pappas GJ (2009) Hybrid control for connectivity preserving flocking. IEEE Trans Autom Control 54(12):2869–2875MathSciNetCrossRef
59.
Olfati-Saber R, Fax JA, Murray RM (2007) Consensus and cooperation in networked multi-agent systems. Proc IEEE 95(1):215–233CrossRef
60.
Martínez S, Cortés J, Bullo F (2007) Motion coordination with distributed information. IEEE Control Syst Mag 27(4):75–88CrossRef
61.
Ren W, Beard R (2008) Distributed consensus in multi-vehicle cooperative control. Springer, BerlinCrossRefMATH
62.
Tardioli D, Mosteo AR, Riazuelo L, Villarroel JL, Montano L (2010) Enforcing network connectivity in robot team missions. Int J Robot Res 29(4):460–480CrossRef
63.
Zavlanos MM, Egerstedt MB, Pappas GJ (2011) Graph-theoretic connectivity control of mobile robot networks. Proc IEEE 99(9):1525–1540CrossRef
64.
Zelazo D, Franchi A, Allgower F, Bulthoff H, Giordano PR (2012) Rigidity maintenance control for multi-robot systems. In: Robotics: science and systems
65.
66.
Panagou D, Kumar V (2014) Cooperative visibility maintenance for leader-follower formations in obstacle environments. IEEE Trans Rob 30(4):831–844CrossRef
67.
Michael N, Zavlanos MM, Kumar V, Pappas GJ (2008) Distributed multi-robot task assignment and formation control. In: IEEE international conference on robotics and automation, pp 128–133
68.
Aranda M, López-Nicolás G, Sagüés C (2010) Omnidirectional visual homing using the 1D trifocal tensor. In: IEEE international conference on robotics and automation, pp 2444–2450
69.
Aranda M, López-Nicolás G, Sagüés C (2013) Angle-based homing from a reference image set using the 1D trifocal tensor. Auton Robot 34(1–2):73–91CrossRef
70.
Aranda M, López-Nicolás G, Sagüés C (2013) Sinusoidal input-based visual control for nonholonomic vehicles. Robotica 31(5):811–823CrossRef
71.
Aranda M, López-Nicolás G, Sagüés C (2012) Planar motion estimation from 1D homographies. In: International conference on control, automation, robotics and vision, pp 329–334
72.
Aranda M, López-Nicolás G, Sagüés C (2013) Controlling multiple robots through multiple 1D homographies. In: IEEE international conference on systems, man and cybernetics, pp 589–594
73.
López-Nicolás G, Aranda M, Mezouar Y, Sagüés C (2012) Visual control for multirobot organized rendezvous. IEEE Trans Sys Man Cybern Part B Cybern 42(4):1155–1168CrossRef
74.
Aranda M, Mezouar Y, López-Nicolás G, Sagüés C (2013) Partially distributed multirobot control with multiple cameras. In: American control conference, pp 6323–6329
75.
Aranda M, López-Nicolás G, Sagüés C, Mezouar Y (2015) Formation control of mobile robots using multiple aerial cameras. IEEE Trans Rob 31(4):1064–1071CrossRef
76.
Aranda M, López-Nicolás G, Sagüés C, Zavlanos MM (2014) Three-dimensional multirobot formation control for target enclosing. In: IEEE/RSJ international conference on intelligent robots and systems, pp 357–362
77.
Aranda M, López-Nicolás G, Sagüés C, Zavlanos MM (2015) Coordinate-free formation stabilization based on relative position measurements. Automatica 57:11–20MathSciNetCrossRefMATH
78.
Aranda M, López-Nicolás G, Sagüés C, Zavlanos MM (2016) Distributed formation stabilization using relative position measurements in local coordinates. IEEE Trans Autom Control 61(12):3925–3935MathSciNetCrossRefMATH
Metadaten
Titel
Introduction
verfasst von
Miguel Aranda
Gonzalo López-Nicolás
Carlos Sagüés
Copyright-Jahr
2017
Buch
Control of Multiple Robots Using Vision Sensors

Print ISBN: 978-3-319-57827-9

Electronic ISBN: 978-3-319-57828-6

Copyright-Jahr: 2017

DOI
https://doi.org/10.1007/978-3-319-57828-6_1

Neuer Inhalt

    Bildnachweise