Vision-guided feedback control of a mobile robot with compressive measurements and side information

Sourabh Bhattacharya; Garrett Warnell; Rama Chellappa; Tamer Başar

doi:10.1109/ACC.2014.6859354

Vision-guided feedback control of a mobile robot with compressive measurements and side information

Sourabh Bhattacharya, Garrett Warnell, Rama Chellappa, Tamer Başar

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this work, we present feedback control laws for vision guided navigation of a mobile robot. The robot is modeled as a cart that can move along a straight line, and has two vision sensors onboard. The primary vision sensor is a high resolution single-pixel camera (SPC), based on principles of compressive sensing, for capturing images. Additionally, there is a low-resolution sensor that provides coarse measurements. In this work, we consider a simple scenario in which the target is modeled as a straight line segment on a plane. The main contribution of this work is the formulation of control laws directly from the compressed measurements, obtained from the SPC. Therefore, the reconstruction of the target image is sidestepped, leading to a reduction in the amount of data acquired for control.

Original language	English (US)
Title of host publication	2014 American Control Conference, ACC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	97-102
Number of pages	6
ISBN (Print)	9781479932726
DOIs	https://doi.org/10.1109/ACC.2014.6859354
State	Published - 2014
Externally published	Yes
Event	2014 American Control Conference, ACC 2014 - Portland, OR, United States Duration: Jun 4 2014 → Jun 6 2014

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2014 American Control Conference, ACC 2014
Country/Territory	United States
City	Portland, OR
Period	6/4/14 → 6/6/14

Keywords

Emerging control applications
Emerging control theory
Vision-based control

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2014.6859354

Cite this

Bhattacharya, S., Warnell, G., Chellappa, R., & Başar, T. (2014). Vision-guided feedback control of a mobile robot with compressive measurements and side information. In 2014 American Control Conference, ACC 2014 (pp. 97-102). Article 6859354 (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2014.6859354

Vision-guided feedback control of a mobile robot with compressive measurements and side information. / Bhattacharya, Sourabh; Warnell, Garrett; Chellappa, Rama et al.
2014 American Control Conference, ACC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 97-102 6859354 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Bhattacharya, S, Warnell, G, Chellappa, R & Başar, T 2014, Vision-guided feedback control of a mobile robot with compressive measurements and side information. in 2014 American Control Conference, ACC 2014., 6859354, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 97-102, 2014 American Control Conference, ACC 2014, Portland, OR, United States, 6/4/14. https://doi.org/10.1109/ACC.2014.6859354

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Vision-guided feedback control of a mobile robot with compressive measurements and side information

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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