Visual-servo controller applied to the leader of a robot team with a centralized formation control

This work implements a visual-servo control that generates motor commands for a mobile robot according to a visual target. This robot is also the leader of a robot team that uses a centralized, non-linear and stable control to keep group formation. Therefore, whenever the target moves, the leader moves to correct its position and orientation, also forcing the whole team to move in formation. The combination of these two controllers will allow the future implementation of a hybrid cooperation strategy, joining a decentralized (visual-servo control) and a centralized (the formation control) approaches. Some experiments were done, so the system performance could be analyzed.