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The tracking is done using the concept of a constant time delay, in which a follower tracks the delayed trajectory of its leader. This constant\u2010time\u2010delay approach allows for new techniques to be used to estimate the speed and heading of the leader. Experiments were conducted with full\u2010sized military vehicles on a 1.3\u2010km test track. Successful field trials with one follower for 10 laps and with two followers for 13.5 laps, totaling over 30 km, are presented. \u00a9 2010 Government of Canada. Exclusive worldwide publication rights in the article have been transferred to Wiley Periodicals, Inc., AWiley Company.<\/jats:p>","DOI":"10.1002\/rob.20344","type":"journal-article","created":{"date-parts":[[2010,5,27]],"date-time":"2010-05-27T02:41:44Z","timestamp":1274928104000},"page":"430-449","source":"Crossref","is-referenced-by-count":12,"title":["Vision\u2010based autonomous convoying with constant time delay"],"prefix":"10.1002","volume":"27","author":[{"given":"Hien K.","family":"Goi","sequence":"first","affiliation":[]},{"given":"Jared L.","family":"Giesbrecht","sequence":"additional","affiliation":[]},{"given":"Timothy D.","family":"Barfoot","sequence":"additional","affiliation":[]},{"given":"Bruce A.","family":"Francis","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2010,5,25]]},"reference":[{"key":"e_1_2_6_2_1","doi-asserted-by":"crossref","unstructured":"Avanzini P. Royer E. 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