Visual feedback leader-following pose synchronization: Convergence analysis

摘要

This paper investigates visual feedback pose synchronization on SE(3) in leader-follower type visibility structures. After defining visual robotic networks to be controlled, we propose a visual feedback pose synchronization law combining a vision-based observer with the pose synchronization law presented in our previous works. We then prove that the visual robotic network with the control law achieves visual feedback pose synchronization in the absence of communication or any other measurements of the states. Finally, the validity of the proposed control law is demonstrated through experiments.