CDC2000 Vision Servoing

Vision Servoing
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	Rigid Body Visual Servoing Using Navigation Functions Authors: Noah J. Cowan, Gabriel A.D. Lopes, Daniel E. Koditschek, Volume: 1, Page 3920 Paper number 1963 Abstract: Visual servo controllers in the literature rarely achieve provably large domains of attraction, and seldom address two important sensor limitations: (i) susceptibility to self-occlusions and (ii) finite field of view (FOV). In this paper, we tackle the problem of global, occlusion-free visual servoing of a fully actuated rigid body by recourse to navigation functions on a compact manifold which encode these restrictions as control obstacles. For occlusion free rigid body servoing, the manifold of interest is the "visible" set of rigid body configurations, that is, those for which the feature points are within the field of view and unoccluded by the body. For a set of coplanar feature points on one face of a convex polyhedron, we show that a slightly conservative subset of the visible set has a simple topology amenable to analytical construction of a navigation function. We construct the controller via a closed form coordinate transformation from our problem domain into the topological model space and conclude with simulation results. CD001963.PDF (From Author) TOP Enlargement of Stable Region in Visual Servo Authors: Koichi Hashimoto, Toshiro Noritsugu, Volume: 1, Page 3927 Paper number 1584 Abstract: This paper proposes a potential switching scheme that enlarge stable region of feature-based visual servoing. Potential is defined as the norm of image feature error and stable region is a downward convex region of the potential surface that includes reference position. The proposed scheme generates relay images that interpolate initial and reference image features and artificial potential is defined by using relay images. The artificial potentials are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme. CD001584.PDF (From Author) CD001584.PDF (Scanned) TOP Visual Servoing Of A Class Of Under-Actuated Dynamic Rigid-Body Systems Authors: Tarek Hamel, Robert Mahony, Volume: 1, Page 3933 Paper number 1662 Abstract: A new image-based control strategy for visual servoing is presented. The proposed control design addresses visual servoing of `eye-in-hand' type systems and treats the camera motion as rigid-body dynamics that are positioned relative to an observed visual target. The proposed design is applicable to a class of under-actuated dynamic systems that include idealized models of mobile robotic vehicles such as helicopters, aeroplanes, etc. The proposed design is motivated by a theoretical analysis of the dynamic equations of motion of an under-actuated rigid body and exploits passivity-like properties of these dynamics to derive a Lyapunov control algorithm using robust backstepping techniques. CD001662.PDF (From Author) TOP Asymptotic Stability of Robot Control with Approximate Jacobian Matrix and its Application to Visual Servoing Authors: Chien Chern Cheah, Kai Lee, Sadao Kawamura, Suguru Arimoto, Volume: 1, Page 3939 Paper number 1014 Abstract: In order to describe a task for the robot manipulator, a desired path for the end effector is usually specified in task space such as Cartesian space. In the presence of uncertainty in kinematics, it is impossible to derive the desired joint angle from the desired end effector path by solving the inverse kinematics problem. In addition, the Jacobian matrix of the mapping from joint space to task space could not be exactly derived. In this paper, we present feedback control laws for setpoint control of robot with uncertain kinematics and Jacobian matrix from joint space to task space. Sufficient conditions for the bound of the estimated Jacobian matrix and stability conditions for the feedback gains are presented to guarantee the stability of the robot's motion. Simulation results are presented to illustrate the performance of the proposed controllers. CD001014.PDF (From Author) TOP Inverse Optimal H-Infinity Disturbance Attenuation for Planar Manipulators with the Eye-in-Hand System Authors: Masayuki Fujita, Akira Maruyama, Manabu Watanabe, Hiroyuki Kawai, Volume: 1, Page 3945 Paper number 1443 Abstract: This paper deals with an inverse optimal H-infinity disturbance attenuation for the planar manipulators with the eye-in-hand system. The input-to-state stability control Lyapunov function (ISS-CLF) is constructed the full Lagrangian dynamics based on a potential unction of the image feature parameter space. The ISS-CLF gives us an inverse optimal H-infinity control law. A proposed controller solves the inverse optimal H-infinity control problem by minimizing a cost functional, and the closed-loop system with the proposed controller is input-to-state stable. Further, we discuss that the inverse optimal H-infinity controller has robustness against input uncertainties. CD001443.PDF (From Author) TOP Discrete-Time Robot Visual Feedback Systems with Nonlinear Depth Adaptation: Stability Analysis and Experiments Authors: Fabio Conticelli, Benedetto Allotta, Volume: 1, Page 3951 Paper number 1587 Abstract: In this paper, a nonlinear adaptive visual feedback scheme is designed to perform 3-D positioning tasks, i.e. the regulation of the relative pose between a robotic camera and a rigid object of interest. The dynamical system of robotic camera-object interaction is expressed in terms of image features, i.e. 2-D points track-able in the image plane. Since visual sampling period is not negligible at the current state of technology, a discrete-time representation of the camera-object interacton model is first derived. By exploiting nonlinear controllability properties, a discrete-time control law is designed based on Lyapunov's direct method, which ensures asymptotic stability of the image reference set-point. Moreover, a 3-D adaptation procedure, in case of unknown object depth, ensures ultimate boundedness of the whole state vector. CD001587.PDF (From Author) TOP Active Distance Stabilization of Large Bodies Using Fabry-Perot Interferometry Authors: Enrico Canuto, Volume: 1, Page 3957 Paper number 1343 Abstract: The paper presents control design and results of a distance stabilization experiment aiming at picometer repeatability. The experiment, called COSI, was funded by European Space Agency in view of space telescopes needing picoradian precision. Stabilization is achieved by actively controlling the optical length of in vacuum Fabry-Perot interferometers. Experiments stabilized three 0.5m distances between two 7kg plates with a repeatability better than 3pm (RMS), in presence of severe environment noise and artificial micrometer displacements, thus demonstrating feasibility of COSI concept and technology. CD001343.PDF (From Author) TOP