Das, Aveek K.Kumar, R. VijayFierro, RafaelSouthall, B.Taylor, Camillo J.Spletzer, John R.2023-05-222023-05-222001-05-212004-11-12https://repository.upenn.edu/handle/20.500.14332/39891This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe the design and implementation of real-time estimation and control algorithms on a car-like robot platform using a single omni-directional camera as a sensor without explicit use of odometry. We provide experimental results for each of these vision-based control objects. The algorithms are packaged as control modes and can be combined hierarchically to perform higher level tasks involving multiple robots.GRASPPresentation