@inproceedings{2dfe526abd24480997dfd51565ebe940,
title = "Formation control of wheeled robots with vision-based position measurement",
abstract = "Many applications require multiple mobile robots to move with a common velocity and at fixed relative distances. We present a time-invariant, state-feedback control law and a novel vision-based pose reconstruction system that allows one differential drive robot to follow another at a constant relative distance. The control law does not require measurement or estimation of the leader robot velocity and has tunable parameters that allows one to prioritize the error bounds of the desired states. The proposed pose reconstruction algorithm is computationally inexpensive and reliable. We present experimental results on two iRobot Create robots showing the performance of the controller and vision algorithm.",
author = "Hasan Poonawala and Satici, {Aykut C.} and Nicholas Gans and Spong, {Mark W.}",
year = "2012",
doi = "10.1109/acc.2012.6315000",
language = "English",
isbn = "9781457710957",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3173--3178",
booktitle = "2012 American Control Conference, ACC 2012",
note = "2012 American Control Conference, ACC 2012 ; Conference date: 27-06-2012 Through 29-06-2012",
}