Nonlinear Stable Formation Control Using Omnidirectional Images

Gava, Christiano Couto; Vassallo, Raquel Frizera; Robertí, Flavio; Carelli, Ricardo

doi:10.5772/6143

Cited by 2 publications

(1 citation statement)

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“…Artificial vision systems have been widely used as external sensors in mobile robotics applications due to the large amount of information that they can offer. For this reason, they have nowadays become the most used sensors in tasks such as surveillance, search, exploration, rescue, mapping, obstacle detection and they have been used for autonomous navigation (Carelli et al, 2006b;Couto et al, 2008;Koyasu et al, 2001;Koyasu et al, 2002;Nebot & Cervera, 2008;Okamoto & Grassi, 2002;Soria et al, 2007;Toibero et al, 2009;Vassallo et al, 2005). Moreover, the use of two or more cameras simultaneously gives the system the 3D perception, allowing it to successfully perform different tasks in completely unknown environments.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

Robertí

Toibero

Soria

et al. 2009

International Journal of Advanced Robotic Systems

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For collaborative robots to become useful, end users who are not robotics experts must be able to instruct them to perform a variety of tasks. With this goal in mind, we developed a system for end-user creation of robust task plans with a broad range of capabilities. CoSTAR: the Collaborative System for Task Automation and Recognition is our winning entry in the 2016 KUKA Innovation Award competition at the Hannover Messe trade show, which this year focused on Flexible Manufacturing. CoSTAR is unique in how it creates natural abstractions that use perception to represent the world in a way users can both understand and utilize to author capable and robust task plans. Our Behavior Tree-based task editor integrates high-level information from known object segmentation and pose estimation with spatial reasoning and robot actions to create robust task plans. We describe the cross-platform design and implementation of this system on multiple industrial robots and evaluate its suitability for a wide variety of use cases.

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