Vision-based follow-the-leader

  title={Vision-based follow-the-leader},
  author={Noah J. Cowan and Omid Shakernia and Ren{\'e} Vidal and S. Shankar Sastry},
We consider the problem of having a group of nonholonomic mobile robots equipped with omnidirectional cameras maintain a desired leader-follower formation. Our approach is to translate the formation control problem from the configuration space into a separate visual servoing task for each follower. We derive the equations of motion of the leader in the image plane of the follower and propose two control schemes for the follower. The first one is based on feedback linearization and is either… CONTINUE READING
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