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Authors
Christiano Couto Gava; Raquel Frizera Vassallo; Ricardo Carelli; Teodiano Freire Bastos Filho

Identifier
10.3182/20061002-2-BR-4906.00004

Index Terms
robot cooperation,nonlinear control,omnidirectional vision

Abstract
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.

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