COURTIAL , Estelle

The purpose of this paper is to show what image prediction can bring to Image-Based Visual Servoing. The visual feature prediction is obtained thanks to the interaction matrix. Based on a Model Predictive Control strategy, the visual servoing task is formulated into an optimization problem. The error between the reference features and the...

L'asservissement visuel 2D (AV2D) utilise très souvent comme information visuelle de retour, les coordonnées cartésiennes de points dans l'image. Cette approche classique permet généralement de satisfaire les objectifs de commande. Cependant, dans certaines configurations, des déplacements 3D inutiles peuvent être constatés. Ce désagrément peut...

Image-based visual servoing (IBVS) is now recognized to be an efficient and robust control strategy to guide robots using only visual data. Classical IBVS is commonly based on the Cartesian coordinates of points in the image. Although the convergence of the visual features to the desired ones is generally achieved, classical IBVS can lead to...

This paper addresses the choice of the control horizon in a Nonlinear Model Predictive Control (NMPC) strat- egy for nonholonomic vehicles. The latter can be modeled by chained systems. We establish a relation between the degree of nonholonomy and the minimum length of the control horizon so as to make the full-state control possible. A...

This paper deals with state feedback control of chained systems based on a Nonlinear Model Predictive Control (NMPC) strategy. Chained systems can model many common nonholonomic vehicles. We establish a relation between the degree of nonholonomy and the minimum length of the control horizon so as to make the NMPC feasible. A necessary condition...

This paper deals with the image-based visual servoing (IBVS), subject to constraints. Robot workspace limitations, visibility constraints, and actuators limitations are addressed. These constraints are formu- lated into state, output, and input constraints, respectively. Based on the predictive-control strategy, the IBVS task is written into a...

In this chapter, image-based visual servoing is addressed via nonlinear model predictive control. The visual servoing task is formulated into a nonlinear optimization problem in the image plane. The proposed approach, named visual pre- dictive control, can easily and explicitly take into account 2D and 3D constraints. Furthermore, the image...