Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots

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distributed control
mobile robots
motion compensation
multi-robot systems
robot vision
distributed control laws
mobile robots
motion coordination
nonholonomic ground robots
vision-based control laws
Cooperative control
distributed coordination
vision-based control
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In this paper, we study the problem of distributed motion coordination among a group of nonholonomic ground robots. We develop vision-based control laws for parallel and balanced circular formations using a consensus approach. The proposed control laws are distributed in the sense that they require information only from neighboring robots. Furthermore, the control laws are coordinate-free and do not rely on measurement or communication of heading information among neighbors but instead require measurements of bearing, optical flow, and time to collision, all of which can be measured using visual sensors. Collision-avoidance capabilities are added to the team members, and the effectiveness of the control laws are demonstrated on a group of mobile robots.

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Copyright 2009 IEEE. Reprinted from: Moshtagh, N.; Michael, N.; Jadbabaie, A.; Daniilidis, K., "Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots," Robotics, IEEE Transactions on , vol.25, no.4, pp.851-860, Aug. 2009 URL: This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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