Name
Abstract | ||
|---|---|---|
We consider the problem of purely visual pose stabilization (also known as servoing) of a second-order rigid-body system with six degrees of freedom: how to choose forces and torques, based on the current view and a memorized goal image, to steer the pose towards a desired one. Emphasis has been given to the bio-plausibility of the computation, in the sense that the control laws could be in principle implemented on the neural substrate of simple insects. We show that stabilizing laws can be realized by bilinear/quadratic operations on the visual input. This particular computational structure has several numerically favorable characteristics (sparse, local, and parallel), and thus permits an efficient engineering implementation. We show results of the control law tested on an indoor helicopter platform. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/IROS.2010.5652857 | IROS |
Keywords | Field | DocType |
second-order rigid-body system,visual pose stabilization,quadratic operation,visual servoing,control system synthesis,mobile robots,pose estimation,bilinear operation,biophysics,path planning,stability,bilinear systems,asymptotic stability,rigid body,dynamics,damping,visualization,pixel,degree of freedom,sensors,second order | Control theory,Computer science,Control engineering,Pose,Artificial intelligence,Computation,Motion planning,Computer vision,Visualization,Six degrees of freedom,Visual servoing,Mobile robot,Bilinear interpolation | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4244-6674-0 | 9 |
PageRank | References | Authors |
0.68 | 13 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shuo Han | 1 | 43 | 6.24 |
| Andrea Censi | 2 | 551 | 39.63 |
| Andrew D. Straw | 3 | 61 | 9.17 |
| Richard M. Murray | 4 | 12322 | 1223.70 |