A Switching Active Sensing Strategy to Maintain Observability for Vision-Based Formation Control
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Abstract
Vision-based control of a robot formation is challenging
because the on-board sensor (camera) only provides the
view-angle to the other moving robots, but not the distance that
must be estimated. In order to guarantee a consistent estimate
of the distance by knowing the control inputs and the sensor
outputs in a given interval, the nonlinear multi-robot system
must preserve its observability. Recent theoretical studies on
leader-follower robot formation exploit the interesting influence
that the control actions have on observability. Based on these
results, in this paper we present a switching active control
strategy for formation control. Our control strategy is active
in the sense that, while asymptotically achieving the formation
control tasks, it also guarantees the system observability in
those cases in which all the robots tend to move along non-observable
paths. As a result, both estimation and formation
performances are improved. Extensive simulation results show
the effectiveness of the proposed design.
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2009-05
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