Engineering Commons^™

Vision Based Leader-Follower Formation Control For Mobile Robots, Gerard Sequeira

Masters Theses

"Creating systems with multiple autonomous vehicles places severe demands on the design of control schemes. Robot formation control plays a vital role in coordinating robots. As the number of members in a system rise, the complexity of each member increases. There is a proportional increase in the quantity and complexity of onboard sensing, control and computation. This thesis investigates the control of a group of mobile robots consisting of a leader and several followers to maintain a desired geometric formation"--Abstract, page iii.