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Visual servoing via navigation functions

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3 Author(s)
Cowan, N.J. ; Dept. of Integrative Biol., California Univ., Berkeley, CA, USA ; Weingarten, J.D. ; Koditschek, D.E.

This paper presents a framework for visual servoing that guarantees convergence to a visible goal from almost every initially visible configurations while maintaining full view of all the feature points along the way. The method applies to first- and second-order fully actuated plant models. The solution entails three components: a model for the "occlusion-free" configurations; a change of coordinates from image to model coordinates; and a navigation function for the model space. We present three example applications of the framework, along with experimental validation of its practical efficacy.

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:18 ,  Issue: 4 )