A multiple-robot system for home service

This paper focuses on applying visual servoing techniques for a multiple-robot system to cooperate. Each individual robot has its own video camera and the images captured are used both for the feedback control and for mutual interaction. Furthermore, we utilize a centralized computing kernel to coordinate total information to speed up the communication between robots and simplify the connection. The robot tasks are achieved mainly through computer vision. For example, the security monitoring task uses human face image detection, the service of providing water uses images to make sure proper robot and human interaction, and the system uses images for robots to cooperate for the floor surface exploring and object transporting.