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Mobile robot control using multiple omnidirectional images (left), and control of a formation of ground robots using three aerial cameras, encircled in yellow (right).
Multiple views of a scene allow extracting precise geometrical information about it. We have exploited multiview geometry to define robot control schemes in different setups where cameras are onboard ground robots, or onboard flying units that observe a team of ground robots. These schemes are applicable in missions such as multirobot environment coverage and navigation toward a destination.
The videos below show examples of our work in this area.
Control of multirobot formations by using multiple camera-equipped aerial units, article in IEEE TRO (TRO15)
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