NDLI: Robot Formations Using a Single Camera and Entropy-based Segmentation

Content Provider	Springer Nature Link
Author	Min, Hyeun Jeong Papanikolopoulos, Nikolaos
Copyright Year	2012
Abstract	This work presents a new problem along with our new algorithm for a multi-robot formation with minimally controlled conditions. For multi-robot cooperation, there have traditionally been prevailing assumptions in order to collect the necessary information. These assumptions include the existence of communication systems among the robots or the use of specialized sensors such as laser scanners or omnidirectional cameras. However, they are not always valid, especially in emergency situations or with miniature robots. We, therefore, need to deal with the conditions that have received less attention in research regarding a multi-robot formation. There are several challenges: (1) less information is available than the well-known formation algorithms assume, (2) following strategies for deformable shapes in a formation with only local information available are needed, and (3) target segmentation without any markers is required. This work presents a formation algorithm based on a visual tracking algorithm, including how to process the image measurements provided by a single monocular camera. Through several experiments with real robots (developed at the University of Minnesota), we show that the proposed algorithms work well with minimal sensing information.
Starting Page	21
Ending Page	41
Page Count	21
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	68
Issue Number	1
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2012-03-30
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Robot formations Robot tracking Moving target segmentation Entropy Mechanical Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Electrical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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