Formation control of wheeled robots with vision-based position measurement

Hasan Poonawala, Aykut C. Satici, Nicholas Gans, Mark W. Spong

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

20 Scopus citations


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.

Original languageEnglish
Title of host publication2012 American Control Conference, ACC 2012
Number of pages6
StatePublished - 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2012 American Control Conference, ACC 2012
CityMontreal, QC

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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