Distributed Consensus with Visual Perception in Multi-Robot Systems

• Main Authors: Montijano, Eduardo (Author), Sagüés, Carlos (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2015.
• Subjects: Engineering.; Artificial intelligence.; Image processing.; Control engineering.; Robotics.; Automation.; Robotics and Automation.; Image Processing and Computer Vision.; Control.; Artificial Intelligence (incl. Robotics).

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...

Table of Contents:

• Introduction
• Robotic Networks and the Consensus Problem
• The Data Association Problem
• D-RANSAC: Distributed Robot Consensus
• Fast Consensus with Chebyshev Polynomials
• Cooperative Topological Map Building Using Distributed Consensus
• Conclusions.