Image-based Multi-agent Formation

Developed heterogeneous multi-agent leader-follower formation with image-based visual servoing. Validation conducted on physical platform.

Overview

Developed image-based visual servoing switchable leader-follower control for heterogeneous multi-agent underwater robot system, using BlueROV2 and HippoCampus, result published in (Yao et al., 2023).

Collaborators

Dr. Daniel A Duecker from Hamburg University of Technology (now in Technical University of Munich), Nathalie Bauschmann and Thies L Alff from Hamburg University of Technology.

ICRA presentation video.

References

2023

  1. icra_23.png
    Image-Based Visual Servoing Switchable Leader-follower Control of Heterogeneous Multi-agent Underwater Robot System
    Kanzhong Yao, Nathalie Bauschmann, Thies L Alff, and 5 more authors
    In 2023 IEEE International Conference on Robotics and Automation (ICRA), May 2023
    HTML Video