{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T16:02:45Z","timestamp":1782403365911,"version":"3.54.5"},"reference-count":30,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2023,11,1]],"date-time":"2023-11-01T00:00:00Z","timestamp":1698796800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Pozna\u0144 University of Technology","award":["0211\/SBAD\/0122"],"award-info":[{"award-number":["0211\/SBAD\/0122"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a leader\u2013follower mobile robot control approach using onboard sensors. The follower robot is equipped with an Intel RealSense camera mounted on a rotating platform. Camera observations and ArUco markers are used to localize the robots to each other and relative to the workspace. The rotating platform allows the expansion of the perception range. As a result, the robot can use observations that are not within the camera\u2019s field of view at the same time in the localization process. The decision-making process associated with the control of camera rotation is implemented using behavior trees. In addition, measurements from encoders and IMUs are used to improve the quality of localization. Data fusion is performed using the EKF filter and allows the user to determine the robot\u2019s poses. A 3D-printed cuboidal tower is added to the leader robot with four ArUco markers located on its sides. Fiducial landmarks are placed on vertical surfaces in the workspace to improve the localization process. The experiments were performed to verify the effectiveness of the presented control algorithm. The robot operating system (ROS) was installed on both robots.<\/jats:p>","DOI":"10.3390\/s23218886","type":"journal-article","created":{"date-parts":[[2023,11,1]],"date-time":"2023-11-01T07:24:04Z","timestamp":1698823444000},"page":"8886","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Leader\u2013Follower Approach for Non-Holonomic Mobile Robots Based on Extended Kalman Filter Sensor Data Fusion and Extended On-Board Camera Perception Controlled with Behavior Tree"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4626-5760","authenticated-orcid":false,"given":"Arpit","family":"Joon","sequence":"first","affiliation":[{"name":"Institute of Automatic Control and Robotics, Poznan University of Technology, Piotrowo 3A, 60-965 Poznan, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5762-6301","authenticated-orcid":false,"given":"Wojciech","family":"Kowalczyk","sequence":"additional","affiliation":[{"name":"Institute of Automatic Control and Robotics, Poznan University of Technology, Piotrowo 3A, 60-965 Poznan, Poland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,11,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1023\/A:1008974515925","article-title":"A Short History of Cleaning Robots","volume":"9","author":"Prassler","year":"2000","journal-title":"Auton. 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