  This paper presents an algorithm and the implementation of a motor schema to
aid the visual localization subsystem of the ongoing EMILY project at Texas A
and M University. The EMILY project aims to team an Unmanned Surface Vehicle
(USV) with an Unmanned Aerial Vehicle (UAV) to augment the search and rescue of
marine casualties during an emergency response phase. The USV is designed to
serve as a flotation device once it reaches the victims. A live video feed from
the UAV is provided to the casuality responders giving them a visual estimate
of the USVs orientation and position to help with its navigation. One of the
challenges involved with casualty response using a USV UAV team is to
simultaneously control the USV and track it. In this paper, we present an
implemented solution to automate the UAV camera movements to keep the USV in
view at all times. The motor schema proposed, uses the USVs coordinates from
the visual localization subsystem to control the UAVs camera movements and
track the USV with minimal camera movements such that the USV is always in the
cameras field of view.
