J. Bom, B. Thuilot, F. Marmoiton, and &. P. Martinet, A global strategy fo urban vehicles platooning relying on nonlinear decoupling laws, IEEE Intern. Conf. on Intelligent Robots and Systems (IROS), 1995.

J. Bom, Étude et mise en oeuvre d'un convoi de véhicules urbains avec accrochage immatériel, Thèse de doctorat, 2006.

F. L. Bookstein, Fitting conic sections to scattered data, Computer Graphics and Image Processing, vol.9, issue.1, pp.56-71, 1979.
DOI : 10.1016/0146-664X(79)90082-0

R. E. Caicedo, J. Valasek, and &. J. Junkins, Preliminary results of one-dimensional vehicle formation control using a structural analogy, Proceedings of the 2003 American Control Conference, 2003., 2003.
DOI : 10.1109/ACC.2003.1242463

&. S. Chen and . Birchfield, Qualitative Vision-based Mobile Robot Navigation, IEEE International Conference on Robotics and Automation, pp.2686-2692, 2006.

K. Chu, Decentralized Control of High-Speed Vehicular Strings, Transportation Science, vol.8, issue.4, pp.361-384, 1974.
DOI : 10.1287/trsc.8.4.361

B. Clipp, J. H. Kim, J. M. Frahm, M. Pollefeys, and &. R. Hartley, Robust 6DOF Motion Estimation for Non-Overlapping, Multi-Camera Systems, 2008 IEEE Workshop on Applications of Computer Vision, pp.1-8, 2008.
DOI : 10.1109/WACV.2008.4544011

J. M. Contet, F. Gechter, P. Gruer, and &. A. Koukam, Bending Virtual Spring-Damper: A Solution to Improve Local Platoon Control, Proceedings of the 9th International Conference on Computational Science (ICCS '09), pp.601-610, 2009.
DOI : 10.1007/978-3-642-01970-8_59

J. Courbon, Y. Mezouar, and P. Martinet, Autonomous Navigation of Vehicles from a Visual Memory Using a Generic Camera Model, IEEE Transactions on Intelligent Transportation Systems, vol.10, issue.3, pp.392-402, 2009.
DOI : 10.1109/TITS.2008.2012375

A. Das, R. Fierro, V. Kumar, J. Ostrowski, J. Spletzer et al., A vision-based formation control framework, IEEE Transactions on Robotics and Automation, vol.18, issue.5, pp.813-825, 2002.
DOI : 10.1109/TRA.2002.803463

P. Daviet and &. M. Parent, Longitudinal and lateral servoing of vehicles in a platoon, Proceedings of Conference on Intelligent Vehicles, pp.41-46, 1996.
DOI : 10.1109/IVS.1996.566349

A. J. Davison, Real-time simultaneous localisation and mapping with a single camera, Proceedings Ninth IEEE International Conference on Computer Vision, pp.1403-1410, 2003.
DOI : 10.1109/ICCV.2003.1238654

&. S. Jagannathan, Control of Nonholonomic Mobile Robot Formations : Backstepping Kinematics into Dynamics, Control of Nonholonomic Mobile Robot Formations : Backstepping Kinematics into Dynamics, pp.94-99, 2007.

A. Diosi, A. Remazeilles, S. Segvic, and &. F. Chaumette, EXPERIMENTAL EVALUATION OF AN URBAN VISUAL PATH FOLLOWING FRAMEWORK, 6th IFAC Symposium on Intelligent Autonomous Vehicles, IAV'07, 2007.
DOI : 10.3182/20070903-3-FR-2921.00050

URL : https://hal.archives-ouvertes.fr/inria-00350643

L. E. Dubins, On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents, American Journal of Mathematics, vol.79, issue.3, pp.497-516, 1957.
DOI : 10.2307/2372560

H. Eren, C. C. Fung, and . Evans, Implementation of the Spline Method for Mobile Robot Path Control. Instrumentation and Measurement Technology Conference, 1999.

J. Eyre, D. Yanakiev, and &. I. Kanellakopoulos, A Simplified Framework for String Stability Analysis of Automated Vehicles Vehicle System Dynamics, International Journal of Vehicle Mechanics and Mobility, vol.30, issue.5, pp.375-405, 1998.

M. A. Fischler and &. R. Bolles, Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography, Communications of the ACM, vol.24, issue.6, pp.381-395, 1981.
DOI : 10.1145/358669.358692

A. W. Fitzgibbon, M. Pilu, and &. R. Fisher, Direct least square fitting of ellipses, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.21, issue.5, pp.476-480, 1999.
DOI : 10.1109/34.765658

F. Fraundorfer, D. Scaramuzza, and &. M. Pollefeys, A constricted bundle adjustment parameterization for relative scale estimation in visual odometry, 2010 IEEE International Conference on Robotics and Automation, pp.1899-1904, 2010.
DOI : 10.1109/ROBOT.2010.5509733

P. Pinto, &. R. Fraisse, and . Zapata, Decentralized strategy for car-like robot formations, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '2007), pp.4176-4181, 2007.
URL : https://hal.archives-ouvertes.fr/lirmm-00202780

D. Gillet and &. T. Chevroulet, BURST : Bright Urban System for Transportation. 2 nd Intern, Workshop on European Scientific and Industrial Collaboration (WESIC'99), 1999.

T. Goedemé, T. Tuytelaars, M. Vanacker, &. L. Nuttin, and . Van-gool, Feature based omnidirectional sparse visual path following, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1806-1811, 2005.
DOI : 10.1109/IROS.2005.1545111

H. H. Gonzales-banos, D. Hsu, and &. J. Latombe, Motion planning : Recent developments. Autonomous Mobile Robots : Sensing , Control, Decision-Making and Applications, 2006.

J. A. Grunert, Das pothenotische problem in erweiterter gestalt nebst über seine anwendungen in der geodäsie. Grunerts archiv für mathematik und physik, pp.238-248, 1841.

&. Long and . Sheng, Global Trajectory Generation for Nonholonomic Robots in Dynamic Environments, IEEE International Conference on Robotics and Automation, pp.1324-1329, 2007.

R. M. Haralick, C. N. Lee, &. M. Ottenberg, and . Nölle, Review and analysis of solutions of the three point perspective pose estimation problem, International Journal of Computer Vision, vol.13, issue.1, pp.331-356, 1994.
DOI : 10.1007/BF02028352

]. R. Hartley-00, &. A. Hartley, and . Zisserman, Multiple view geometry in computer vision, 2000.
DOI : 10.1017/CBO9780511811685

J. D. Hol, T. B. Schon, H. Luinge, P. J. Slycke, and &. F. Gustafsson, Robust real-time tracking by fusing measurements from inertial and vision sensors, Journal of Real-Time Image Processing, vol.22, issue.11, pp.149-160, 2007.
DOI : 10.1007/s11554-007-0040-2

X. Huppé, J. De-lafontaine, M. Beauregard, and &. F. Michaud, Guidance and control of a platoon of vehicles adapted to changing environment conditions, SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme, System Security and Assurance (Cat. No.03CH37483), pp.3091-3096, 2003.
DOI : 10.1109/ICSMC.2003.1244365

R. C. Hwang, &. Arkin, and D. S. Kwoon, Mobile robots at your fingertip : Bezier curve on-line trajectory generation for supervisory control, Intelligent Robotics and Systems, 2003.

S. Ikeda, T. Sato, K. Yamaguchi, and &. N. Yokoya, Construction of Feature Landmark Database Using Omnidirectional Videos and GPS Positions, Sixth International Conference on 3-D Digital Imaging and Modeling (3DIM 2007), pp.249-256, 2007.
DOI : 10.1109/3DIM.2007.16

]. J. Junkins, J. R. Jancaitis, and &. G. Miller, Smooth irregular curves, Photogrammetric Engineering, vol.38, pp.565-573, 1972.

]. R. Kalman, A New Approach to Linear Filtering and Prediction Problems. Transactions of the ASME -Journal of Basic Engineering, pp.35-45, 1960.

Y. J. Kanayama and &. N. Miyake, Trajectory Generation for Mobile Robots, Proceedings of the International Symposium on Robotics Research, pp.16-23, 1985.

Y. J. Kanayama and &. B. Hartman, Smooth Local-Path Planning for Autonomous Vehicles1, The International Journal of Robotics Research, vol.32, issue.2, pp.263-284, 1997.
DOI : 10.1177/027836499701600301

M. Khatib, H. Jaouni, R. Chatila, and &. J. Laumond, Dynamic path modification for car-like nonholonomic mobile robots, Proceedings of International Conference on Robotics and Automation, 1997.
DOI : 10.1109/ROBOT.1997.606730

M. E. Khatir and &. E. Davison, Decentralized control of a large platoon of vehicles using non-identical controllers, American Control Conference, vol.3, pp.2769-2776, 2004.

S. Klinge and &. R. Middleton, Time headway requirements for string stability of homogeneous linear unidirectionally connected systems, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, pp.1992-1997, 2009.
DOI : 10.1109/CDC.2009.5399965

K. Komoriya and &. K. Tanie, Trajectory Design and Control of a Wheel-type Mobile Robot Using B-spline Curve, Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications, 1989.
DOI : 10.1109/IROS.1989.637937

G. Lafferriere, J. Caughman, and &. A. Williams, Graph Theoretic Methods in the Stability of Vehicle Formations, American Control Conference, vol.4, pp.3729-3734, 2004.

F. Lamiraux and &. J. Laumond, Flatness and small-time controllability of multibody mobile robots: application to motion planning, IEEE Transactions on Automatic Control, vol.45, issue.10, 2000.
DOI : 10.1109/TAC.2000.880989

J. M. Lavest, M. Viala, and &. M. Dhome, Do we really need an accurate calibration pattern to achieve a reliable camera calibration?, European Conference on Computer Vision, pp.158-174, 1998.
DOI : 10.1007/BFb0055665

R. Lenain, B. Thuilot, C. Cariou, and &. P. Martinet, Adaptive and Predictive Path Tracking Control for Off-road Mobile Robots, European Journal of Control, vol.13, issue.4, pp.419-439, 2007.
DOI : 10.3166/ejc.13.419-439

URL : https://hal.archives-ouvertes.fr/hal-00344107

&. R. Levin and . Szeliski, Visual odometry and map correlation, Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004., pp.611-618, 2004.
DOI : 10.1109/CVPR.2004.1315088

]. W. Levine and &. M. Athans, On the optimal error regulation of a string of moving vehicles, IEEE Transactions on Automatic Control, vol.11, issue.3, pp.355-361, 1966.
DOI : 10.1109/TAC.1966.1098376

S. R. Lindemann and &. S. Lavalle, Current Issues in Sampling-Based Motion Planning, Robotics Research Intern. Symposium, 2005.
DOI : 10.1007/11008941_5

P. Lothe, S. Bourgeois, M. Royer, &. C. Dhome, and . Naudet, Real-time vehicle global localisation with a single camera in dense urban areas: Exploitation of coarse 3D city models, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2010.
DOI : 10.1109/CVPR.2010.5540127

M. Massot and &. E. Lapierre, Praxitele : the missing link. The Association for European Transport Conference, 1999.

]. R. Middleton, Trade-offs in linear control system design, Automatica, vol.27, issue.2, pp.281-292, 1991.
DOI : 10.1016/0005-1098(91)90077-F

J. M. Montiel, J. Civera, &. Andrew, and J. Davison, Unified Inverse Depth Parametrization for Monocular SLAM, Robotics: Science and Systems II, pp.16-19, 2006.
DOI : 10.15607/RSS.2006.II.011

E. Mouragnon, M. Lhuillier, M. Dhome, F. Dekeyser, and &. P. Sayd, Real Time Localization and 3D Reconstruction, 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'06), pp.363-370, 2006.
DOI : 10.1109/CVPR.2006.236

URL : https://hal.archives-ouvertes.fr/hal-00091145

P. Moutarlier and &. R. Chatila, Stochastic multisensory data fusion for mobile robot location and environment modeling, 5th International Symposium on Robotics Research, 1989.

]. D. Nistér-03b and . Nistér, Preemptive RANSAC for live structure and motion estimation, Proceedings Ninth IEEE International Conference on Computer Vision, pp.199-206, 2003.
DOI : 10.1109/ICCV.2003.1238341

D. Nistér, An efficient solution to the five-point relative pose problem, Conference on Computer Vision and Pattern Recognition, pp.147-151, 2003.

D. Nistér, An efficient solution to the five-point relative pose problem, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.26, issue.6, pp.756-777, 2004.
DOI : 10.1109/TPAMI.2004.17

O. Nistér, &. J. Naroditsky, and . Bergen, Visual odometry for ground vehicle applications, Journal of Field Robotics, vol.15, issue.1, 2006.
DOI : 10.1002/rob.20103

]. G. Nuetzi, S. Weiss, D. Scaramuzza, and &. R. Siegwart, Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM, International Conference & Exhibition on Unmanned Aerial Vehicles (UAV), 2010.

L. Peppard, String stability of relative-motion PID vehicle control systems, IEEE Transactions on Automatic Control, vol.19, issue.5, pp.579-581, 1974.
DOI : 10.1109/TAC.1974.1100652

M. Pollefeys, R. Koch, and &. L. Van-gool, Self-calibration and metric reconstruction in spite of varying and unknown internal camera parameters, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271), pp.90-95, 1998.
DOI : 10.1109/ICCV.1998.710705

J. A. Reeds and &. L. Shepp, Optimal paths for a car that goes both forwards and backwards, Pacific Journal of Mathematics, vol.145, issue.2, pp.367-393, 1990.
DOI : 10.2140/pjm.1990.145.367

E. Rivlin, I. Shimshoni, and &. E. Smolyar, Image-based robot navigation in unknown indoor environments, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), pp.2736-2742, 2003.
DOI : 10.1109/IROS.2003.1249284

E. Royer, M. Lhuillier, M. Dhome, and &. T. Chateau, Towards an alternative GPS sensor in dense urban environment from visual memory, Procedings of the British Machine Vision Conference 2004, pp.197-206, 2004.
DOI : 10.5244/C.18.22

URL : https://hal.archives-ouvertes.fr/hal-00118566

E. Royer, J. Bom, M. Dhome, B. Thuilot, M. Lhuillier et al., Outdoor autonomous navigation using monocular vision, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3395-3400, 2005.
DOI : 10.1109/IROS.2005.1545495

URL : https://hal.archives-ouvertes.fr/hal-00118546

E. Royer, Cartographie 3D et localisation par vision monoculaire pour la navigation autonome d'un robot mobile, Thèse de doctorat, 2006.
URL : https://hal.archives-ouvertes.fr/tel-00698908

C. Samson, Control of chained systems application to path following and time-varying point-stabilization of mobile robots, IEEE Transactions on Automatic Control, vol.40, issue.1, pp.64-77, 1995.
DOI : 10.1109/9.362899

A. Scheuer, O. Simonin, and &. F. Charpillet, Safe longitudinal platoons of vehicles without communication, 2009 IEEE International Conference on Robotics and Automation, pp.70-75, 2009.
DOI : 10.1109/ROBOT.2009.5152629

URL : https://hal.archives-ouvertes.fr/inria-00342719

J. T. Schwartz and &. M. Sharir, A survey of motion planning and related geometric algorithms, Artificial Intelligence, vol.37, issue.1-3, 1988.
DOI : 10.1016/0004-3702(88)90053-7

P. Seiler, A. Pant, and &. K. Hedrick, Disturbance Propagation in Vehicle Strings, IEEE Transactions on Automatic Control, vol.49, issue.10, pp.1835-1841, 2004.
DOI : 10.1109/TAC.2004.835586

]. S. Sheikholeslam-89a, &. C. Sheikholeslam, S. Desoer, &. C. Sheikholeslam, S. Desoer et al., Institute of transportation studies Longitudinal Control Of A Platoon Of Vehicles. II, First And Second Order Time Derivatives Of Distance Deviations Institute of transportation studies, research reports, working papers, proceedings, Institute of Transportation Studies Longitudinal Control Of A Platoon Of Vehicles. III, Nonlinear Model Institute of transportation studies, research reports, working papers, proceedings, Institute of Transportation Studies Operation of automated guideway transit vehicles in dynamically reconfigured trains and platoons. Rapport technique , U.S. Department of Transportation, Urban Mass Transportation Administration On the representation of spatial uncertainty String Stability of Interconnected Systems : An application to platooning in AHS String stability of interconnected systems On the controllability of nearest neighbor interconnections A real-time, multi-sensor architecture for fusion of delayed observations : application to vehicle localization Accurate automatic guidance of an urban electric vehicle relying on a kinematic GPS sensor, Longitudinal Control Of A Platoon Of Vehicles. I, Linear Model (ucb Thèse de doctorat IEEE Intelligent Transportation Systems Conference, ITSC '06 Lisbonne (Portugal), Juillet 2004. [Tilbury 93] D. Tilbury, R.M. Murray & Sastry S. Trajectory Generation for the N-trailer problem using Goursat Normal Form. Conference on Decision and ControlÜstünda 05] E. Üstünda & ¸Celebi. A B-Spline Curve Fitting Approach by Implementing the Parameter Correction Terms. International Computational Science and Engineering Conference, pp.56-68, 1979.

J. Xiang and &. T. Braunl, String formations of multiple vehicles via pursuit strategy, IET Control Theory & Applications, vol.4, issue.6, pp.1027-1038, 2010.
DOI : 10.1049/iet-cta.2009.0047

S. Y. Yi and &. T. Chong, Impedance control for a vehicle platoon system, Mechatronics, vol.15, issue.5, 2004.
DOI : 10.1016/j.mechatronics.2004.12.002