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Retracted: Formation Control of Multiple Mobile Robots Systems

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Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5314))

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Abstract

This paper presents a vision-based framework for mobile robot detection and tracking using off-the-shelf cameras mounted on mobile robots. Target detection and pose estimation are performed from single frames using fiducial markers as key elements. The method consists in distributing an octagon shaped structure on the back part of each robot. These shapes are easy to extract from the images and posses unique ID codes to facilitate pose estimation. Pose estimation algorithms method about Projection ray attraction (PRA) is programmed and compared. Finally, a dual Unscented Kalman filter (DUKF) is implemented to smooth measured data and estimate unknown leader’s velocities.

An Erratum for this chapter can be found at http://dx.doi.org/10.1007/978-3-540-88513-9_135

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References

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Author information

Authors and Affiliations

  1. Southwest University of Science and Technology, 621010, Mianyang, China

    Zhanfeng Li, Youliang Ma & Tong Ren

Authors
  1. Zhanfeng Li
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  2. Youliang Ma
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  3. Tong Ren
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong , Yongan Huang  & Youlun Xiong ,  & 

  2. Institute of Industrial Research, University of Portsmouth, Burnaby Building, PO1 3QL, Portsmouth, UK

    Honghai Liu

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© 2008 Springer-Verlag Berlin Heidelberg

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Cite this paper

Li, Z., Ma, Y., Ren, T. (2008). Retracted: Formation Control of Multiple Mobile Robots Systems. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_9

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  • DOI: https://doi.org/10.1007/978-3-540-88513-9_9

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88512-2

  • Online ISBN: 978-3-540-88513-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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