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This paper presents vision-assisted cyclic pursuit for nonholonomic vehicles without direct communication among the agents. The requirement on communication among agents is relaxed by vision-assisted estimation via a local onboard camera for each agent. A fast estimator is utilized for estimation of the other agent's unknown time-varying velocity. The effectiveness of the proposed technique is demonstrated...
This paper discusses the 3D affine motion estimation problem using two cameras via observations of a single feature point. The unknown parameters to be estimated include the nine rotational parameters, the three translational parameters, and the 3D position. One camera assumes a parabolic projection. The other camera is the conventional camera that has a planar projection surface. The parabolic camera...
This paper introduces the problem of iterative learning control (ILC) for perspective dynamic systems (PDS), referred to as ILC-PDS, where the task is to track a 3-D desired trajectory from information observed on the image plane of an imaging system, such as a camera. Unlike many ILC implementations in motion control applications, which use feedback from encoders, we assume measurements from the...
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