Using standard JPEG image processing techniques to analyze the image and conduct active feedback based control. We expect to track something to the effect of a large “April tag”, which allows us to track a predefined image. This will allow us to avoid pattern recognition / deep learning. We’ll compute trajectories using pixel information. We can predict paths based on both distance and angel from target. By using encoders and image values, we can ensure that we are providing proper control to the system. We are hoping to generate smooth paths. We’d like to compute tags by using April tags. April tags allow for specific 3d positioning relative to the tag by utilizing a well-defined code - similar to a QR code, but much, much larger. We believe that this tag will be more accurate than simply estimating with pixel information.