arxivcs.RO2026-07-17
Implicit Virtual Leader: Decentralized Vision-Only Relative Pose Estimation for Multi-Robot Formations
Shiyuan Yang, Zelin Wang, Zhijia Tao, Yilin Wang, Zhengyu Hou, Xiaosong Kong, et al.
Classical leader-follower formation control suffers from single points of failure and error propagation, and relies on absolute localization sensors that are ill-suited for GPS-denied environments. We address these limitations by introducing a fully decentralized, vision-only rel…