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Slip plays a vital role in traction control when a mobile robot traverses over soft soils. To estimate slip parameters, accurate measurement of robot velocity is particularly required. Previous related work done by the authors has adopted a single downward-looking single camera system for velocity and slip estimation [1][2]; however, such a single camera system is prone to lose accuracy when the distance...
In this paper we propose a new on-line sensor self-calibration framework. The approach is to consider the sensor/robot interaction that links the sensor signal variations to the robot velocity. By on-line calibration, we mean only the actual measurements are used to perform calibration under the condition that the interaction matrix is analytically known. This allows us to propose a very simple and...
Formation control experiments are performed using two robots, each equipped with a camera. When both robots are fully informed of the reference velocity, a decentralized feedback control, which achieves the desired relative position and the reference velocity, is experimentally verified. Another adaptive design is implemented in the situation where only one robot has the full reference velocity information...
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