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This paper introduces a novel formation control algorithm for unmanned air vehicles equipped with cameras. It leverages the use of consensus theory to share visual information in a Multiple Agent System. Then, multiple-view geometry is used through the use of synthetic homographies that define a set of reference points to be used by a image-based visual servoing based controller. Our algorithm is distributed and does not require prior information other than the relative states of agents. Also, this approach does not require to know a global reference frame which is appealing for the GPS-denied environments. We present convincing experiments performed under the Gazebo simulator.

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Vision-Based Formation Control Using Visual Servoing and Virtual Homographies

  • 会议论文

  • 发表日期：

    2025年

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  • Edgar I. Chavez-Aparicio,
  • Hector M. Becerra,
  • Jean-Bernard Hayet

摘要

This paper introduces a novel formation control algorithm for unmanned air vehicles equipped with cameras. It leverages the use of consensus theory to share visual information in a Multiple Agent System. Then, multiple-view geometry is used through the use of synthetic homographies that define a set of reference points to be used by a image-based visual servoing based controller. Our algorithm is distributed and does not require prior information other than the relative states of agents. Also, this approach does not require to know a global reference frame which is appealing for the GPS-denied environments. We present convincing experiments performed under the Gazebo simulator.