Cyclic pursuit with vision-assisted estimation
Lili Ma, Naira Hovakimyan · 2010
This paper presents vision-assisted cyclic pursuit for nonholonomic vehicles without direct communication among the agents. The requirement on communication among agents is relaxed by vision-assisted estimation via a local onboard camera for each agent. A fast estimator is utilized for estimation of the other agent's unknown time-varying velocity. The effectiveness of the proposed technique is demonstrated by numerical simulation examples.