Einladung zum Vortrag im Kolloquium Technische Kybernetik

Vision-based Motion Coordination: A Passivity Approach

Prof. Masayuki Fujita
Department of Mechanical and Control Engineering
Tokyo Institute of Technology
Tokyo, Japan

    Zeit: Montag · 2. 10. 2006 · 14:00 Uhr
    Ort: IST-Seminarraum 3.241 · Pfaffenwaldring 9 · Campus Stuttgart-Vaihingen

Abstract

Motion Coordination in multi-agent systems has many practical applications, such as sensor networks, traffic control and robotic network. Many of the recent works in that field consider communication between the agents, e.g. via wireless networks or the Internet. In this talk as an alternative method, we present a new cooperative control using a camera as sensor instead of communication in order to get information about the other agents. Because only 2D information can directly be measured using camera, we construct a nonlinear observer to estimate position and orientation of the other agents in 3D configuration space. We show passivity of the nonlinear observer which allows us to prove stability in the sense of Lyapunov. We propose a vision-based motion coordination by connecting the cooperative control and nonlinear observer. In this control, the passivity of the agent including the nonlinear observer is necessary.

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