Robot coordination to create collaborative panoramic images

In this work, we deal with the problem of coordinating a set of autonomous agents equipped with cameras whose goal is to obtain a panoramic image. To this end, we optimize a multi-objective cost function that accounts for elements such as the number of matched points between the images, the distance between the agents, and the distance to a certain point of interest. Basic solutions for this problem are presented considering two different approaches: centralized and distributed coordination of the agents. For both approaches results are presented and assessed via simulation by using extensive search and heuristic methods.