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Title: Control and Navigation of Multi-Vehicle Systems Using Visual Measurements
Keywords: Unmanned aerial vehicle, vision-based navigation, formation control, sensor network
Issue Date: 7-Jan-2014
Source: ZHAO SHIYU (2014-01-07). Control and Navigation of Multi-Vehicle Systems Using Visual Measurements. ScholarBank@NUS Repository.
Abstract: Visual sensing inherently is a bearing-only sensing approach. It is easy for vision to obtain bearing measurements but much harder to obtain distance measurements. Applying vision to control and navigation of multi-vehicle systems yields many unique research topics. This thesis addresses several important ones of these topics. The first topic is optimal placement of sensor networks for target tracking. I prove the necessary and sufficient conditions for optimal sensor placement in two- and three-dimensional spaces. This result is a significant generalization of the existing studies. The second topic is distributed control of multi-vehicle formations using bearing-only measurements. The results on this topic provide a novel framework for implementing vision-based formation control systems. The third topic addressed in this thesis is vision-based navigation of unmanned aerial vehicles using natural or artificial landmarks. Comprehensive simulation and flight experiments have verified the effectiveness and robustness of the proposed vision-based navigation systems.
Appears in Collections:Ph.D Theses (Open)

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