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The core of the method lies in the use of visual top-view feedback from flying robots for the stabilization of the entire group in a leader\u2013follower formation. We formulate a novel model predictive control-based methodology for guiding the formation. The method is employed to solve the trajectory planning and control of a virtual leader into a desired target region. In addition, the method is used for keeping the following vehicles in the desired shape of the group. The approach is designed to ensure direct visibility between aerial and ground vehicles, which is crucial for the formation stabilization using the hawk-eye-like approach. The presented system is verified in numerous experiments inspired by search-and-rescue applications, where the formation acts as a searching phalanx. In addition, stability and convergence analyses are provided to explicitly determine the limitations of the method in real-world applications.<\/jats:p>","DOI":"10.1177\/0278364914530482","type":"journal-article","created":{"date-parts":[[2014,7,24]],"date-time":"2014-07-24T23:31:25Z","timestamp":1406244685000},"page":"1393-1412","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":81,"title":["Coordination and navigation of heterogeneous MAV\u2013UGV formations localized by a \u2018hawk-eye\u2019-like approach under a model predictive control scheme"],"prefix":"10.1177","volume":"33","author":[{"given":"Martin","family":"Saska","sequence":"first","affiliation":[{"name":"Department of Cybernetics, Czech Technical University in Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Vojt\u011bch","family":"Von\u00e1sek","sequence":"additional","affiliation":[{"name":"Department of Cybernetics, Czech Technical University in Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tom\u00e1\u0161","family":"Krajn\u00edk","sequence":"additional","affiliation":[{"name":"Lincoln Centre for Autonomous Systems, School of Computer Science, University of Lincoln, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Libor","family":"P\u0159eu\u010dil","sequence":"additional","affiliation":[{"name":"Department of Cybernetics, Czech Technical University in Prague, Czech Republic"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2014,7,24]]},"reference":[{"key":"bibr1-0278364914530482","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2011.08.042"},{"key":"bibr2-0278364914530482","series-title":"Lecture Notes in Control and Information Sciences","volume-title":"Stabilization of Nonlinear Systems Using Receding-Horizon Control Schemes","volume":"339","author":"Alamir M","year":"2006"},{"key":"bibr3-0278364914530482","doi-asserted-by":"publisher","DOI":"10.1080\/019697200124928"},{"key":"bibr4-0278364914530482","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2003.11.004"},{"key":"bibr5-0278364914530482","doi-asserted-by":"publisher","DOI":"10.1109\/87.960341"},{"key":"bibr6-0278364914530482","doi-asserted-by":"publisher","DOI":"10.1515\/9781400831470"},{"key":"bibr7-0278364914530482","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910369463"},{"key":"bibr8-0278364914530482","doi-asserted-by":"publisher","DOI":"10.1155\/2012\/261367"},{"key":"bibr9-0278364914530482","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909104290"},{"key":"bibr10-0278364914530482","doi-asserted-by":"crossref","unstructured":"Chudoba J, Mazl R, Preucil L (2006) A control system for multi-robotic communities. 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