A ConsensusBased Approach for Visual Servo Control of Multiple Mobile Robots This paper addresses a consensusbased approach for visual servo control of multiple mobile robots. The basic idea is to utilize singleintegrator consensus techniques to design a imagebased visual servo control algorithm for each robot under a certain network. The aim of this work is to extract common objects between different images captured by different robots and adjust the positions and orientations of robots to concentrate on common objects. We show that if the union of communication graphs has a directed spanning tree, the states of robots would achieve consensus based on the relative states. At the end of this paper we present experiments to verify the feasibility and effectiveness of proposed algorithms.

Decentralized Algorithm for Repeating Pattern Formation by Multiple Robots Recently, much attention is paid to multirobot systems due to their widespread applications such as warehouse robotics, persistent surveillance, and exploration of unknown environments. Although urgently required by the applications, coordination among multiple robots remains to be challenging. Among the problems of multirobot coordination, pattern formation serves a fundamental one. It aims to control a group of robots to form a desired shape with some certain goals such as best formation quality, minimum makespan or minimum total distance. Existing works mainly focus on the formation of certain patterns, such as repeating squares or a circle. those approaches cannot be generalized to arbitrary pattern formation. In this paper, we propose a decentralized algorithm for a multirobot system to generate a given formation with an arbitrary repeating pattern. We introduce basic pattern graph and assembling graph to define a repeating pattern and formation quality for measurement. Towards solving the repeating pattern formation problem, our approach is divided into two phases. The robots are grouped into multiple basic patterns in the first phase, and the patterns are assembled level by level in the second phase. Simulations and realworld experiments indicate the effectiveness and practicability of our approach.