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We describe a navigation and coverage system based on unsupervised learning driven by visual input. Our objective is to allow a robot to remain continuously moving above a terrain of interest using visual feedback to avoid leaving this region. As a particular application domain, we are interested in doing this in open water, but the approach makes few domain-specific assumptions. Specifically, our...
We present an image-based visual servoing controller enabling nonholonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. A Lyapunov-based stability analysis is carried out. The performance of the controller...
In this paper we present the results from our visual servoing system for a real industrial robot. In contrast to other visual servoing system in the literature, the one presented here, which was derived from [4], uses a quaternion representation of the rotation instead of the more common matrix representation. By doing so, the proposed system avoids potential singularities introduced by the rotational...
We present a visual servoing scheme enabling non-holonomic mobile robots with a fixed pinhole camera to reach and follow a continuous path on the ground. The controller utilizes only a small set of features extracted from the image plane, without using the complete geometric representation of the path. The scheme is position-based, and a Lyapunov-based stability analysis is carried out. The performance...
The development of new medical therapies often require experiments on small animals. In order to improve the medical protocol during treatments with needles, we propose a new robotic needle insertion system using CT-scan imaging and visual servoing. The biologist defines the skin entry point and the target to be reached in the CT-image. The needle target is then expressed in the robot frame thanks...
The remote controlled weapon station (RCWS) is currently highly emphasized in infantry warfare. The future trend will focus on automatic targeting procedure to improve efficiency, and meanwhile to save the operator from hostile fire. In addition to operate the gun turret remotely, it is presently a direction to be integrated with the Unmanned Ground Vehicle (UGV) to serve as surveillance unit in the...
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