Titlebook: Distributed Consensus with Visual Perception in Multi-Robot Systems; Eduardo Montijano,Carlos Sagüés Book 2015 Springer International Publ

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Robotic Networks and the Consensus Problem,c network. First, we describe the robots we will use and their way to interact with each other and with the world. Then, we express the communications of the network using fixed and time-varying graphs and we give some definitions of interest. After that, in the chapter we review the distributed alg

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,: Distributed Robust Consensus, network must be able to fuse its perception of the world in a robust way. Data association mistakes and measurement errors are some of the factors that can contribute to an incorrect consensus value. In this chapter, we present a distributed scheme for robust consensus in autonomous robotic network

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Conclusions,allow a team of robots equipped with monocular cameras achieve a consensus in different perception tasks. We have placed a great effort in three issues related with this problem, the data association of the features observed by the different robots, the identification of the outliers and the converg

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