Keeping Features in the Field of View in Eye-In-Hand Visual Servoing: A Switching Approach

Chesi, Graziano; Hashimoto, Koichi; Prattichizzo, Domenico; Vicino, Antonio

doi:10.1109/tro.2004.829456

Cited by 146 publications

(94 citation statements)

References 21 publications

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“…Combining the open-loop and closed-loop control strategies, we present a novel switched control method to handle the image features loss. Compared with the switching strategy in [8] which tries to keep features in the field of view, our method can allow the image feature loss without constraint on the duration.…”

Section: Index Terms-softmentioning

confidence: 99%

Visual servoing control of soft robots based on finite element model

Zhang

Bieze

Dequidt

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In this paper, we propose a strategy for the control of soft robots with visual tracking and simulation-based predictor. A kinematic model of soft robots is obtained thanks to the Finite Element Method (FEM) computed in real-time. The FEM allows to obtain a prediction of the Jacobian matrix of the robot. This allows a first control of the robot, in the actuator space. Then, a second control strategy based on the feedback of infrared cameras is developed to obtain a correction of the effector position. The robust stability of this closed-loop system is obtained based on Lyapunov stability theory. Otherwise, to deal with the problem of image features (the marker points placed on the end effector of soft robot) loss, a switched control strategy is proposed to combine both the open-loop controller and the closed-loop controller. Finally, experiments on a parallel soft robot driven by four cables are conducted and show the effectiveness of these methods for the real-time control of soft robots.

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Section: Index Terms-softmentioning

confidence: 99%

Visual servoing control of soft robots based on finite element model

Zhang

Bieze

Dequidt

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…The resulting navigation function follows the same "squashing" and change of coordinates as in equations (8) and (9). Note that by imposing a minimum distance to the beacon d m , the configuration space is not simply connected.…”

Section: G Simulations For a Single Beacon Visual Servoing Problemmentioning

confidence: 99%

“…Since the navigation function ϕ, presented in equation (9), is defined in a convex set and has a unique critical point at q * , all of its level sets are topological spheres. The inputs (40), (41) and (39) are computed using the nonholonomic constraint (12) and the navigation function (9). Table II compiles the simulation results.…”

Section: H Simulations For the Visual Servoing Problemmentioning

confidence: 99%

Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems

Lopes

Koditschek

2007

The International Journal of Robotics Research

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This paper addresses problems of robot navigation with nonholonomic motion constraints and perceptual cues arising from onboard visual servoing in partially engineered environments. We propose a general hybrid procedure that adapts to the constrained motion setting the standard feedback controller arising from a navigation function in the fully actuated case. This is accomplished by switching back and forth between moving "down" and "across" the associated gradient field toward the stable manifold it induces in the constrained dynamics. Guaranteed to avoid obstacles in all cases, we provide conditions under which the new procedure brings initial configurations to within an arbitrarily small neighborhood of the goal.We summarize simulation results on a sample of visual servoing problems with a few different perceptual models. We document the empirical effectiveness of the proposed algorithm by reporting the results of its application to outdoor autonomous visual registration experiments with the robot RHex guided by engineered beacons. Abstract-This paper addresses problems of robot navigation with nonholonomic motion constraints and perceptual cues arising from onboard visual servoing in partially engineered environments. We propose a general hybrid procedure that adapts to the constrained motion setting the standard feedback controller arising from a navigation function in the fully actuated case. This is accomplished by switching back and forth between moving "down" and "across" the associated gradient field toward the stable manifold it induces in the constrained dynamics. Guaranteed to avoid obstacles in all cases, we provide conditions under which the new procedure brings initial configurations to within an arbitrarily small neighborhood of the goal.We summarize simulation results on a sample of visual servoing problems with a few different perceptual models. We document the empirical effectiveness of the proposed algorithm by reporting the results of its application to outdoor autonomous visual registration experiments with the robot RHex guided by engineered beacons.

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“…The specific problem of keeping multiple point inside a camera FOV has already been addressed. In [8], a switching approach is used to control an actuated camera by alternating a position based visual servoing with a backward motion which prevents tracked points from leaving the image plane. In [9], the same problem is addressed for multiple moving targets using a task function approach.…”

Section: Introductionmentioning

confidence: 99%

Cooperative control of a heterogeneous multi-robot system based on relative localization

Cognetti

Oriolo

Peliti

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We propose a cooperative control scheme for a heterogeneous multi-robot system, consisting of an Unmanned Aerial Vehicle (UAV) equipped with a camera and multiple identical Unmanned Ground Vehicles (UGVs). Our control scheme takes advantage of the different capabilities of the robots. Since the system is highly redundant, the execution of multiple different tasks is possible. The primary task is aimed at keeping the UGVs well inside the camera field of view, so as to allow our localization system to reconstruct the identity and relative pose of each UGV with respect to the UAV. Additional tasks include formation control, navigation and obstacle avoidance. We thoroughly discuss the feasibility of each task, proving convergence when possible. Simulation results are presented to validate the proposed method.

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Keeping Features in the Field of View in Eye-In-Hand Visual Servoing: A Switching Approach

Cited by 146 publications

References 21 publications

Visual servoing control of soft robots based on finite element model

Visual servoing control of soft robots based on finite element model

Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems

Cooperative control of a heterogeneous multi-robot system based on relative localization

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