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by Hong Zhang, James P. Ostrowski
In International Conf. on Robotics and Automation
http://www.cis.upenn.edu/~hozhang/research/paper/icra99.ps.gz
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Abstract:
Image-based control of free-flying mechanical systems is addressed, with application to an indoor vision-guided blimp. A methodology is developed for incorporating the physical parameters of a mechanical system into the image plane for performing visual servoing. It is noted that under suitable conditions, namely the existence of a diffeomorphism between image features and robot pose, many tools from mechanical system control theory can be used directly when applied in the image plane. It is shown that when a suitable Jacobian map exists between pose and features, dynamics for vision-based control of aerial and underwater vehicles can easily be formulated. Experimental results show initial success at spatial tracking of simple objects.
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