Lab Papers (GRASP)

Document Type

Journal Article

Date of this Version



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

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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.


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



Date Posted: 23 September 2009

This document has been peer reviewed.