ME Department Seminar: Eduardo Montijano

Starts:
11:00 am on Friday, September 27, 2013
Location:
RM 245, 110 Cummington Mall
URL:
http://www.bu.edu/me/files/2013/09/Seminar-F13-Montijano.pdf
Epipolar Visual Servoing for Multi-Robot Distributed Consensus

ABSTRACT:
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.