Gian Luca Mariottini Fabio Morbidi Domenico Prattichizzo George J. Pappas Kostas Daniilidis Leader-Follower Formations: Uncalibrated Vision-Based Localization and Control. 2403-2408 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363679 db/conf/icra/icra2007.html#MariottiniMPPD07