. Ces-travaux-ont-Été-financés-en-partie-par-le and R. Omnibot-de, Robotique mobile et Entités Artificielles " . Nous remercions particulièrement Eric Marchand de l'IRISA/INRIA à Rennes pour nous avoir fourni l

]. N. Références1, B. Andreff, E. R. Espiau, and . Horaud, Visual servoing from lines, Int. Journal of Robotics Research, vol.21, issue.8, pp.679-700, 2002.

S. Baker and S. K. Nayar, A theory of single-viewpoint catadioptric image formation, Int. Journal of Computer Vision, vol.35, issue.2, pp.1-22, 1999.

J. Barreto and H. Araujo, Geometric Properties of Central Catadioptric Line Images, 7th European Conf. on Computer Vision, ECCV'02, pp.237-251, 2002.
DOI : 10.1007/3-540-47979-1_16

J. P. Barreto, F. Martin, and E. R. Horaud, Visual Servoing/Tracking Using Central Catadioptric Images, 8th Int. Symp. on Experimental Robotics, ISER'02, pp.863-869, 2002.
DOI : 10.1007/3-540-36268-1_21
URL : https://hal.archives-ouvertes.fr/inria-00590167

R. Benosman and S. Kang, Panoramic Vision, 2000.
DOI : 10.1007/978-1-4757-3482-9

P. Blaer and P. K. Allen, Topological mobile robot localization using fast vision techniques, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.1031-1036, 2002.
DOI : 10.1109/ROBOT.2002.1013491

D. Burshka, J. Geiman, and E. G. Hager, Optimal landmark configuration for vision-based control of mobile robots, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.3917-3922, 2003.
DOI : 10.1109/ROBOT.2003.1242198

F. Chaumette, La relation vision commande : théorie et application à des tâches robotiques, Thèse de l'Université de, 1990.

F. Chaumette, Potential problems of stability and convergence in image-based and position-based visual servoing. The Confluence of Vision and Control, LNCIS Series, pp.66-78, 1998.
URL : https://hal.archives-ouvertes.fr/inria-00352553

G. Chesi, K. Hashimoto, D. Prattichizzo, and E. A. Vicino, A switching control law for keeping features in the field of view in eye-in-hand visual servoing, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.3929-3934, 2003.
DOI : 10.1109/ROBOT.2003.1242200

N. J. Cowan, J. D. Weingarten, and D. E. Koditschek, Visual servoing via navigation functions, IEEE Transactions on Robotics and Automation, vol.18, issue.4, pp.521-533, 2002.
DOI : 10.1109/TRA.2002.802202
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.4.7387

P. Corke and S. Hutchinson, A new partitioned approach to image-based visual servo control, IEEE Transactions on Robotics and Automation, vol.17, issue.4, pp.507-515, 2001.
DOI : 10.1109/70.954764

B. Espiau, F. Chaumette, and E. P. Rives, A new approach to visual servoing in robotics, IEEE Transactions on Robotics and Automation, vol.8, issue.3, pp.313-326, 1992.
DOI : 10.1109/70.143350

C. Geyer and K. Daniilidis, A Unifying Theory for Central Panoramic Systems and Practical Implications, European Conf. on Computer Vision, ECCV'00, pp.159-179, 2000.
DOI : 10.1007/3-540-45053-X_29

S. Hutchinson, G. D. Hager, and P. I. Corke, A tutorial on visual servo control, IEEE Transactions on Robotics and Automation, vol.12, issue.5, pp.651-670, 1996.
DOI : 10.1109/70.538972

D. Khadraoui, C. Debain, R. Rouveure, P. Martinet, P. Bonton et al., Vision-Based Control in Driving Assistance of Agricultural Vehicles, The International Journal of Robotics Research, vol.38, issue.5, pp.1040-1054, 1998.
DOI : 10.1177/027836499801701002

E. Malis, J. Borrelly, and E. P. Rives, Intrinsics-free visual servoing with respect to straight lines, IEEE/RSJ International Conference on Intelligent Robots and System, 2002.
DOI : 10.1109/IRDS.2002.1041419
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.59.594

E. Malis, F. Chaumette, and E. S. Boudet, 2 1/2 D visual servoing, IEEE Transactions on Robotics and Automation, vol.15, issue.2, pp.238-250, 1999.
DOI : 10.1109/70.760345
URL : https://hal.archives-ouvertes.fr/inria-00073302

E. Marchand, VISP: a software environment for eye-in-hand visual servoing, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), pp.3224-3229, 1999.
DOI : 10.1109/ROBOT.1999.774089
URL : https://hal.archives-ouvertes.fr/inria-00352546

B. Marhic, E. Mouaddib, and D. Fofi, Brassart Localisation absolue par le capteur omnidirectionnel SYCLOP, Traitement du Signal, vol.17, issue.3, 2000.
DOI : 10.1109/iros.1999.812777

Y. Mezouar and F. Chaumette, Path planning for robust image-based control, IEEE Transactions on Robotics and Automation, vol.18, issue.4, pp.534-549, 2002.
DOI : 10.1109/TRA.2002.802218
URL : https://hal.archives-ouvertes.fr/inria-00352101

A. Paulino and H. Araujo, Multiple robots in geometric formation : Control structure and sensing, Int. Symp. on Intelligent Robotic Systems, pp.103-112, 2000.

E. Malis and S. Benhimane, Vision-based control with respect to planar and nonplanar objects using a zooming camera, IEEE Int. Conf. on Advanced Robotics , ICAR'04, pp.863-869, 2003.

P. Martinet and J. , Gallice Position-based visual servoing using a nonlinear approach, RSJ International Conference on Intelligent Robots and Systems , IROS'99, pp.531-536, 1999.

P. Rives, Espiau Estimation recursive de primitives 3D au moyen d'une camà c ra mobile, Traitement du Signal, vol.4, pp.259-272, 1987.

C. Samson, B. Espiau, and M. L. Borgne, Robot Control : The Task Function Approach, 1991.

B. Thuilot, P. Martinet, L. Cordesses, and E. J. Gallice, Position based visual servoing: keeping the object in the field of vision, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.1624-1629, 2002.
DOI : 10.1109/ROBOT.2002.1014775

R. Vidal, O. Shakernia, and E. S. Sastry, Formation control of nonholonomic mobile robots with omnidirectional visual servoing and motion segmentation, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003.
DOI : 10.1109/ROBOT.2003.1241657

N. Winter, J. Gaspar, G. Lacey, J. Santos, and . Victor, Omnidirectional vision for robot navigation, pp.21-28, 2000.