Overview
- Presents a novel application of visual sensing in multi-robot systems
- Provides a realistic perspective on issues of robustness, speed and bulk-data handling
- Verifies performance of algorithms by experimentation with real images
- Includes supplementary material: sn.pub/extras
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Table of contents (7 chapters)
Keywords
About this book
This monograph introduces novel responses to the different problems that arise when multiple robots need to execute a task in cooperation, each robot in the team having a monocular camera as its primary input sensor. Its central proposition is that a consistent perception of the world is crucial for the good development of any multi-robot application. The text focuses on the high-level problem of cooperative perception by a multi-robot system: the idea that, depending on what each robot sees and its current situation, it will need to communicate these things to its fellows whenever possible to share what it has found and keep updated by them in its turn. However, in any realistic scenario, distributed solutions to this problem are not trivial and need to be addressed from as many angles as possible.
Distributed Consensus with Visual Perception in Multi-Robot Systems covers a variety of related topics such as:
• distributed consensus algorithms;
• data association and robustness problems;
• convergence speed; and
• cooperative mapping.
The book first puts forward algorithmic solutions to these problems and then supports them with empirical validations working with real images. It provides the reader with a deeper understanding of the problems associated to the perception of the world by a team of cooperating robots with onboard cameras.
Academic researchers and graduate students working with multi-robot systems, or investigating problems of distributed control or computer vision and cooperative perception will find this book of material assistance with their studies.
Authors and Affiliations
Bibliographic Information
Book Title: Distributed Consensus with Visual Perception in Multi-Robot Systems
Authors: Eduardo Montijano, Carlos Sagüés
DOI: https://doi.org/10.1007/978-3-319-15699-6
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2015
Hardcover ISBN: 978-3-319-15698-9Published: 23 March 2015
Softcover ISBN: 978-3-319-36710-1Published: 06 October 2016
eBook ISBN: 978-3-319-15699-6Published: 23 February 2015
Edition Number: 1
Number of Pages: XII, 159
Number of Illustrations: 46 illustrations in colour
Topics: Robotics and Automation, Image Processing and Computer Vision, Control and Systems Theory, Artificial Intelligence