In this paper a reactive and concurrent control framework for viewpoint control is developed. The viewpoint control task is decomposed onto three control objectives; namely, obstacle avoidance, visibility and precision. A moving object is tracked in two panoramic sensors using color, and a scalar uncertainty metric of the object position estimate is introduced. Individual control objectives are accomplished by planning paths using harmonic functions and the task is accomplished using ...
Robot control in nonlinear and nonstationary run-time environments presents challenges to traditional software methodologies. In particular, robot systems in "open" domains can only be modeled probabilistically and must rely on run-time feedback to detect whether hardware/software configurations are adequate. Modifications must be effected while guaranteeing critical performance properties. Moreover, in multi-robot systems, there are typically many ways in which to compensate for inadequate performance. The computational complexity of high dimensional ...
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