This paper describes a formation control proposal for unicycle-type mobile robots under the leader-follower scheme with mounted camera. The control objective is determined directly in image space, hence this proposal corresponds with the Image-Based Visual Servoing (IBVS) alternative. Using the Lyapunov stability theory, two controllers are designed: one that depends partially on the parameters of the vision system and another one that is robust to the three-dimensional parameters of the features that are mapped to the image space (the image features). Finally, experiments on a soft real-time platform with satisfactory results are carried out to validate the proposed theory.

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