Cyclic pursuit with vision-assisted estimation

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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 by numerical sim- ulation examples.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Pages5532-5537
Number of pages6
StatePublished - Oct 15 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Other

Other2010 American Control Conference, ACC 2010
CountryUnited States
CityBaltimore, MD
Period6/30/107/2/10

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Keywords

  • Cyclic pursuit
  • Fast estimator
  • Vision-assisted estimation

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ma, L., & Hovakimyan, N. (2010). Cyclic pursuit with vision-assisted estimation. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 5532-5537). [5531000] (Proceedings of the 2010 American Control Conference, ACC 2010).