Consider a team of $$k \le n$$ autonomous mobile robots initially placed at node an arbitrary graph G with n nodes. The dispersion problem asks for distributed algorithm that allows the to reach configuration in which each robot is distinct graph. If are anonymous, i.e., they do not have any unique identifiers, then solvable by deterministic algorithm. However, can be solved even anonymous if g...

In this paper, the formation control problem for unicycle mobile robots is studied. A virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness with respect to perturbations as compared to typical leader-follower approaches. The applicability of the pr...

Global image features are well-suited for the visual self-localization of mobile robots. They are fast to compute, to compare and do not require much storage space. Especially when using small mobile robots with limited processing capabilities and low-resolution cameras, global features can be preferred to local features. In this paper, we compare the accuracy and computation times of different...