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Vision-based control laws for distributed flocking of nonholonomic agents

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3 Author(s)
N. Moshtagh ; GRASP Lab., Pennsylvania Univ. ; A. Jadbabaie ; K. Daniilidis

We study the problem of vision-based flocking and coordination of a group of kinematic agents in 2 and 3 dimensions. It is shown that in the absence of communication among agents, and by using only visual information, a group of mobile agents can align their velocity vectors and move in a formation. A coordinate-free control law is used to develop a vision-based input for each nonholonomic agent. The vision-based input does not rely on heading measurements, but only requires measurements of bearing, optical flow and time-to-collision, all of which can be efficiently measured

Published in:

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

Date of Conference:

15-19 May 2006