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CDC
2010
IEEE

Visual feedback attitude synchronization in leader-follower type visibility structures

10 years 6 months ago
Visual feedback attitude synchronization in leader-follower type visibility structures
In this paper we consider visual feedback attitude synchronization in leader-follower type visibility structures in SE(3). We first define visual robotic networks consisting of the dynamics describing rigid body motion, visibility structures among bodies and visual measurements. We then propose a visual feedback attitude synchronization law combining a vision-based observer with attitude synchronization law presented in our previous works. We moreover prove that the robotic network with the control law achieves visual feedback attitude synchronization in the absence of communication and measurement of the states. Finally, the validity of the proposed control law is demonstrated through both numerical simulations and experiments on a planar testbed.
Tatsuya Ibuki, Takeshi Hatanaka, Masayuki Fujita,
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Tatsuya Ibuki, Takeshi Hatanaka, Masayuki Fujita, Mark W. Spong
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