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dc.contributor.authorShan, Maoen
dc.contributor.authorZou, Yingen
dc.contributor.authorGuan, Mingyangen
dc.contributor.authorWen, Changyunen
dc.contributor.authorLim, Kwang-Yongen
dc.contributor.authorNg, Cheng-Leongen
dc.contributor.authorTan, Paulen
dc.identifier.citationShan, M., Zou, Y., Guan, M., Wen, C., Lim, K.-Y., Ng, C.-L., et al. (2016). Probabilistic trajectory estimation based leader following for multi-robot systems. 2016 14th International Conference on Control, Automation, Robotics & Vision (ICARCV), 1-6.en
dc.description.abstractThe paper is concerned with the multi-robot leader-following problem in the presence of frequent dropouts in vision detection. In many scenarios, for instance a structured environment, it is inevitable to experience outage of vision detection due to reasons such as the target moving out of view, vision occlusion, motion blurring, etc. The paper proposes a Bayesian trajectory estimation based leader-following approach that can offer accurate path following given intermittent vision observations. The follower robot estimates the trajectory of the leader robot based on the noise-corrupted odometry information of both robots, and inter-robot relative observations based on detection of fiducial markers using an RGBD camera. A linear trajectory-following control method is employed to track a historical pose of the leader robot on the estimated trajectory. Results are obtained based on evaluating the proposed leader-following approach in tests with a zig-zag shaped trajectory and with a trajectory that contains sharp turns.en
dc.format.extent6 p.en
dc.rights© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [].en
dc.subjecttrajectory controlen
dc.subjectmulti-robot systemsen
dc.titleProbabilistic Trajectory Estimation based Leader Following for Multi-Robot Systemsen
dc.typeConference Paperen
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen
dc.contributor.conference2016 14th International Conference on Control, Automation, Robotics & Vision (ICARCV)en
dc.description.versionAccepted versionen
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