English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Integrated Sensing and Communication (ISAC) is an emerging technology thatintegrates wireless sensing and communication into a single system,transforming many applications, including cooperative mobile robotics. However,in scenarios where radio communications are unavailable, alternative approachesare needed. In this paper, we propose a new optical ISAC (OISAC) scheme forcooperative mobile robots by integrating camera sensing and screen-cameracommunication (SCC). Unlike previous throughput-oriented SCC designs that workwith stationary SCC links, our OISAC scheme is designed for real-time controlof mobile robots. It addresses new problems such as image blur and long imagedisplay delay. As a case study, we consider the leader-follower formationcontrol problem, an essential part of cooperative mobile robotics. The proposedOISAC scheme enables the follower robot to simultaneously acquire theinformation shared by the leader and sense the relative pose to the leaderusing only RGB images captured by its onboard camera. We then design a newcontrol law that can leverage all the information acquired by the camera toachieve stable and accurate formations. We design and conduct real-worldexperiments involving uniform and nonuniform motions to evaluate the proposedsystem and demonstrate the advantages of applying OISAC over a benchmarkapproach that uses extended Kalman filtering (EKF) to estimate the leader'sstates. Our results show that the proposed OISAC-augmented leader-followerformation system achieves better performance in terms of accuracy, stability,and robustness.

Optical Integrated Sensing and Communication for Cooperative Mobile Robotics Design and Experiments