CSC560: Design and Analysis of Real Time Systems

Some of the required components for this project are still topics of research. We will mention two of them: object tracking using a camera -- a topic in Computer Vision and trajectory maintaining -- probably a topic in Control Theory.

First, there exists many approaches to reliably track objects using a static camera in a static background. We have found one research paper that uses Kinect sensor to track an object. However, that research project uses both the RGB values and the depth values to track an object. Our requirement is stronger, namely that, we need to track multiple known objects using a static camera in a known approximately static background using only the depth information.

We believe that optimal trajectory control is a still field of active research. Maintaining a precise coordinated motion requires optimal trajectory control. However, we will use a simple trajectory controller for this project. We will assume that the speeds of the robots are sufficiently small enough so that frequently adjusting their trajectories will suffice to maintain a coordinated motion.