Visual feedback attitude synchronization in leader-follower type visibility structures

Abstract

In this paper we consider visual feedback attitude synchronization in leader-follower type visibility structures in SE(3). We first define visual robotic networks consisting of the dynamics describing rigid body motion, visibility structures among bodies and visual measurements. We then propose a visual feedback attitude synchronization law combining a vision-based observer with attitude synchronization law presented in our previous works. We moreover prove that the robotic network with the control law achieves visual feedback attitude synchronization in the absence of communication and measurement of the states. Finally, the validity of the proposed control law is demonstrated through both numerical simulations and experiments on a planar testbed.