Single-view distance-estimation-based formation control of robotic swarms

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dc.contributor.authorFidan, Barış
dc.contributor.authorGazi, Veysel
dc.contributor.authorZhai, Shaohao
dc.contributor.authorCen, Na
dc.contributor.authorKarataş, Engin
dc.date.accessioned2021-05-15T12:40:55Z
dc.date.available2021-05-15T12:40:55Z
dc.date.issued2013
dc.departmentMühendislik ve Doğa Bilimleri Fakültesi, Elektrik - Elektronik Mühendisliği Bölümüen_US
dc.descriptionGazi, Veysel/0000-0002-4383-9215
dc.description.abstractThis paper presents a practical formation motion control scheme for robotic swarms based on single-view distance estimation, which is performed using a single nonsophisticated camera on each robot agent, and the prior information about the heights of the robots and other objects in the environment. Here, a nonsophisticated camera means one that has limited field of view and limited resolution. First, the vision mechanism is analyzed, and a single-view distance estimation scheme is designed. Then, a set of decentralized control laws, to be incorporated with distance estimation scheme, is introduced to move the robotic swarm in formation from an arbitrary initial position to an arbitrary final position without deforming the formation shape. The robots do not have any global positioning sensors, and they do not communicate with each other. The stability and performance of the overall system are analyzed mathematically. Later, practical issues are discussed regarding the proposed scheme, and the effects of delay and quantization in distance estimation are formally analyzed. Finally, we present experimental results demonstrating the performance of the proposed control scheme in real time.en_US
dc.identifier.doi10.1109/TIE.2012.2236996
dc.identifier.endpage5791en_US
dc.identifier.issn0278-0046
dc.identifier.issue12en_US
dc.identifier.scopus2-s2.0-84880299916
dc.identifier.scopusqualityQ1
dc.identifier.startpage5781en_US
dc.identifier.urihttps://doi.org/10.1109/TIE.2012.2236996
dc.identifier.urihttps://hdl.handle.net/20.500.12939/709
dc.identifier.volume60en_US
dc.identifier.wosWOS:000320946000039
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorGazi, Veysel
dc.language.isoen
dc.publisherIeee-Inst Electrical Electronics Engineers Incen_US
dc.relation.ispartofIeee Transactions on Industrial Electronics
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectAutonomous Vehiclesen_US
dc.subjectFormation Controlen_US
dc.subjectMultiagent Control Systemsen_US
dc.subjectRigid Formationsen_US
dc.titleSingle-view distance-estimation-based formation control of robotic swarms
dc.typeArticle

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WoS İndeksli Yayınlar Koleksiyonu
Elektrik - Elektronik Mühendisliği Bölümü Koleksiyonu
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