Cyclic pursuit with vision-assisted estimation

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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 sim- ulation examples.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Number of pages6
StatePublished - Oct 15 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010


Other2010 American Control Conference, ACC 2010
Country/TerritoryUnited States
CityBaltimore, MD


  • Cyclic pursuit
  • Fast estimator
  • Vision-assisted estimation

ASJC Scopus subject areas

  • Control and Systems Engineering


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