ME Department Seminar: Eduardo Montijano

11:00 am on Friday, September 27, 2013
RM 245, 110 Cummington Mall
Epipolar Visual Servoing for Multi-Robot Distributed Consensus

This talk will address the problem of making a team of non-holonomic robots reach consensus about their orientations using monocular cameras. In the presented scheme, the motions of the robots are decided using nearest neighbor rules. Each robot is equipped with a camera and can only exchange visual information with a subset of the other robots. Using the presented controller the robots can reach a consensus in their orientations without the necessity of directly observe each other. Additionally, the controller only requires a partial knowledge of the calibration of the cameras in order to achieve the desired configuration. To conclude, the talk will also address some implementation issues.