Abstract
This paper describes a visual control proposal for the formation of unicycle-like mobile robots under the leader-follower scheme. It is considered a single fixed camera observing the robots workspace that, in terms of the processed information, can be shared by both the leader robot and the follower robot. This would enable the implementation of this proposal to be performed by centralized or decentralized control strategies. For the purpose of simplifying the analysis, it is also considered that the image plane is parallel to the robots motion plane. The formation objective is established directly in image space and the proposed visual controller does not depend explicitly on the vision system parameters (extrinsic or intrinsic); which together represents the main contribution of this paper. Finally, also as an important part of this work, to validate the proposed theory satisfactory experiments using a real-time and high-speed vision system are detailed.
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