Improved control of visually observed robotic agents based on autoregressive model prediction

Recent investigation on the cooperation of multiple robotic agents with centralized control, has ushered in small and less sophisticated robots that are observed by a global vision system. This paper presents a modeling methodology that enables accurate prediction of such small robot's position...

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Bibliographic Details
Published inProceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113) Vol. 1; pp. 608 - 613 vol.1
Main Authors Pereira, G.A.S., Campos, M.F.M., Aguirre, L.A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2000
Subjects
Cameras
Centralized control
Delay effects
Machine vision
Mobile robots
Predictive models
Robot control
Robot kinematics
Robot sensing systems
Robot vision systems
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Summary:Recent investigation on the cooperation of multiple robotic agents with centralized control, has ushered in small and less sophisticated robots that are observed by a global vision system. This paper presents a modeling methodology that enables accurate prediction of such small robot's position and orientation from data measured using the global vision system. Results of several experiments show that the predictions of the model can be used to compensate time delays and improve the transient response of the robots.
ISBN:9780780363489
0780363485
DOI:10.1109/IROS.2000.894671