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We propose a novel teleoperation framework for multiple distributed non-holonomic mobile robots (WMR), each equipped with onboard sensing and computing using peer-to-peer communication. One of the WMRs is designated as the leader with the first-person view camera and SLAM, while the other WMRs maintain a certain desired formation relative to their respective fore-running WMR in a distributed manner...
GPS-IMU based sensor fusion is widely used for autonomous flying, which yet suffers from the inaccuracy and drift of the GPS signal and also the failure with the loss of GPS (e.g., indoor flying). To circumvent this issue, in this paper, we propose a new framework for camera-GPS-IMU sensor fusion, which, by fusing monocular camera information with that from GPS and IMU, can improve the accuracy and...
We propose a novel control framework to enable nonholonomic wheeled mobile robots (WMRs) to autonomously drive in an environment with the speed fast enough so that the dynamics effect (e.g., Coriolis effect) is not negligible, yet, still less than a certain threshold to prevent slippage at the wheels. For this, instead of the Newtonian vehicle modeling, we adopt Lagrange-D'Alembert formulation, which...
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