Experimental verification of formation control with distributed cameras

Formation control experiments are performed using two robots, each equipped with a camera. When both robots are fully informed of the reference velocity, a decentralized feedback control, which achieves the desired relative position and the reference velocity, is experimentally verified. Another adaptive design is implemented in the situation where only one robot has the full reference velocity information and the other robot estimates the reference velocity. The performances of the experiments are analyzed and compared with different feedback gains and adaptation gains. Typical experimental results show that the difference between individual camera measurements leads to steady state error in practice. As a preliminary investigation, this fact is analyzed theoretically with the measurement difference modeled as constant disturbance.