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The stabilization to a desired pose of a nonholonomic mobile robot carrying a manipulator arm, based on sensory data provided by a camera mounted on the end-effector of the arm, is considered. Instances of this problem occur in practice during docking or parallel parking maneuvers of such vehicles. The visual data obtained as the camera tracks a target of known geometry are used to implement a continuous...
In this paper, we present a robotic application performed by sequencing visual servoing tasks. The theoritical framework used is the sensor-based control for the continuous parts of the application and discrete events system theory for its logical aspects. The design and analysis of the whole system are coherently handled using Orccad concepts. We focus our attention on the programming aspects of...
Robotic applications are real-time dynamical systems which intimately combine different components ranging from high-level decision making and discrete-event controllers to low-level feedback loops. Tightly coupling the two last components and considering them in a formal framework permitted, in a centralized approach, both crucial properties to be proved and efficient implementation. We examine this...