Journal ArticleDOI
Switching visual control based on epipoles for mobile robots
TLDR
A visual control approach consisting in a switching control scheme based on the epipolar geometry that facilitates a classical teach-by-showing approach where a reference image is used to control the robot to the desired pose (position and orientation).About:
This article is published in Robotics and Autonomous Systems.The article was published on 2008-07-01. It has received 52 citations till now. The article focuses on the topics: Epipolar geometry & Mobile robot.read more
Citations
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Journal ArticleDOI
Motion-Estimation-Based Visual Servoing of Nonholonomic Mobile Robots
Xuebo Zhang,Yongchun Fang,Xi Liu +2 more
TL;DR: A 2-1/2-D visual servoing strategy, which is based on a novel motion-estimation technique, is presented for the stabilization of a nonholonomic mobile robot and it is shown that practical exponential stability can be achieved, despite the lack of depth information,Which is inherent for monocular camera systems.
Journal ArticleDOI
Homography-Based Control Scheme for Mobile Robots With Nonholonomic and Field-of-View Constraints
Gonzalo López-Nicolás,Nicholas Gans,Sourabh Bhattacharya,Carlos Sagues,J. J. Guerrero,Seth Hutchinson +5 more
TL;DR: A visual servo controller that effects optimal paths for a nonholonomic differential drive robot with field-of-view constraints imposed by the vision system is presented and controllability and stability analysis are provided.
Journal ArticleDOI
Adaptive Image-Based Trajectory Tracking Control of Wheeled Mobile Robots With an Uncalibrated Fixed Camera
TL;DR: A depth-independent image Jacobian matrix framework for the wheeled mobile robots will be developed such that unknown parameters in the closed-loop system can be linearly parameterized and adaptive laws can be designed to estimate the unknown parameters online and the depth information of the feature point can be allowed to be time varying.
Journal ArticleDOI
A Sliding-Mode-Control Law for Mobile Robots Based on Epipolar Visual Servoing From Three Views
TL;DR: A new control law is proposed that achieves convergence to the target with no auxiliary images and without changing to any approach other than epipolar-based control, thus allowing the robot to move directly toward the target as well as avoiding the need of a precise camera calibration.
Journal ArticleDOI
Adaptive Moving-Target Tracking Control of a Vision-Based Mobile Robot via a Dynamic Petri Recurrent Fuzzy Neural Network
Rong-Jong Wai,You-Wei Lin +1 more
TL;DR: The effectiveness of the proposed adaptive moving-target tracking control (AMTC) scheme is verified by numerical simulations under different target tracking, and its superiority is indicated in comparison with the CSMC system.
References
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Journal ArticleDOI
Distinctive Image Features from Scale-Invariant Keypoints
TL;DR: This paper presents a method for extracting distinctive invariant features from images that can be used to perform reliable matching between different views of an object or scene and can robustly identify objects among clutter and occlusion while achieving near real-time performance.
Book
Multiple view geometry in computer vision
Richard Hartley,Andrew Zisserman +1 more
TL;DR: In this article, the authors provide comprehensive background material and explain how to apply the methods and implement the algorithms directly in a unified framework, including geometric principles and how to represent objects algebraically so they can be computed and applied.
Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Multiple View Geometry in Computer Vision.
TL;DR: This book is referred to read because it is an inspiring book to give you more chance to get experiences and also thoughts and it will show the best book collections and completed collections.
Book
Nonlinear Control Systems
Alberto Isidori,M. Thoma,Eduardo D. Sontag,B. W. Dickinson,A. Fettweis,J. L. Massey,J. W. Modestino +6 more
TL;DR: In this paper, a systematic feedback design theory for solving the problems of asymptotic tracking and disturbance rejection for linear distributed parameter systems is presented, which is intended to support the development of flight controllers for increasing the high angle of attack or high agility capabilities of existing and future generations of aircraft.