Vision-based Control Laws for Distributed Flocking of Nonholonomic Agents

— 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.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Nima Moshtagh, Ali Jadbabaie, Kostas Daniilidis
• Keywords: ICRA 2006, Kinematic Agents, Mobile Agents, Robotics, Vision-based Input