TEAM FORMATION BASED ON NONLINEAR CONTROL TECHNIQUES AND OMNIDIRECTIONAL VISION

In this work a mobile robot cooperation strategy based on computational vision is presented. Such strategy is applied to a mobile robot team formed by simple and cheap robots and a leader robot with more computational power. The leader has an omnidirectional visual system and uses color segmentation to obtain the pose of the followers. This visual information is used by a nonlinear stable controller that manages team formation. Simulations and tests were run and current results are encouraging.