KRUPÍNSKI , Szymon

A nonlinear image-based visual servo control approach for pipeline following of fully-actuated Autonomous Underwater Vehicles (AUV) is proposed. It makes use of the binormalized Plücker coordinates of the pipeline borders detected in the image plane as feedback information while the system dynamics are exploited in a cascade manner in the...

A nonlinear visual servoing approach is proposed for the stabilisation of fully-actuated autonomous underwater vehicles (AUVs) by exploiting the homography matrix between the two images of a planar scene. In a cascade manner, an outer-loop control defines a reference setpoint based on the homography matrix, and an inner-loop control ensures the...

A nonlinear inertial-aided image-based visual servo control approach for the stabilisation of (almost) fully-actuated autonomous underwater vehicles (AUVs) is proposed. It makes use of the homography matrix between two images of a planar scene as feedback information while the system dynamics are exploited in a cascade manner in control design:...