Robotics and Autonomous Systems
Dynamic visual tracking control of a mobile robot with image noise and occlusion robustness
Image and Vision Computing
Robust stabilization of nonholonomic moving robots with uncalibrated visual parameters
ACC'09 Proceedings of the 2009 conference on American Control Conference
Parking with the essential matrix without short baseline degeneracies
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Visual control through the trifocal tensor for nonholonomic robots
Robotics and Autonomous Systems
Topological maps based on graphs of planar regions
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Uncalibrated visual servoing feedback based exponential stabilization of nonholonomic mobile robots
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on gait analysis
Distributed multi-camera visual mapping using topological maps of planar regions
Pattern Recognition
Vision-based exponential stabilization of mobile robots
Autonomous Robots
Design of a quadruped robot for human---elephant conflict mitigation
Artificial Life and Robotics
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A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an underactuated wheeled mobile robot (WMR) subject to nonholonomic motion constraints (i.e., the camera-in-hand problem). A prerecorded image sequence (e.g., a video) of three target points is used to define a desired trajectory for the WMR. By comparing the target points from a stationary reference image with the corresponding target points in the live image and the prerecorded sequence of images, projective geometric relationships are exploited to construct Euclidean homographies. The information obtained by decomposing the Euclidean homography is used to develop a kinematic controller. A Lyapunov-based analysis is used to develop an adaptive update law to actively compensate for the lack of depth information required for the translation error system. Experimental results are provided to demonstrate the control design.