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In this paper, we consider the two dimensional (2-D) predecessor-followingcontrol problem for a platoon of unicycle vehicles moving on a planar surface.More specifically, we design a decentralized kinematic control protocol, in thesense that each vehicle calculates its own control signal based solely on localinformation regarding its preceding vehicle, by its on-board camera, withoutincorporating any velocity measurements. Additionally, the transient and steadystate response is a priori determined by certain designer-specified performancefunctions and is fully decoupled by the number of vehicles composing theplatoon and the control gains selection. Moreover, collisions betweensuccessive vehicles as well as connectivity breaks, owing to the limited fieldof view of cameras, are provably avoided. Finally, an extensive simulationstudy is carried out in the WEBOTS realistic simulator, clarifying the proposedcontrol scheme and verifying its effectiveness.

Decentralized 2-D Control of Vehicular Platoons under Limited Visual Feedback