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As we know, the dynamic visual-tracking control, which is based on the depth-independent interaction matrix, has been proposed to cope with the general 3-D motion of robot manipulators. To deal with the unknown camera parameters, an adaptive law has been designed. It is noted, however, that the designed adaptive law uses a vector signal defined by the true depths of feature points, which are unavailable...
This paper presents an indoor navigation scheme for a skid-steering mobile robot using a low-cost gyro sensor and a monocular camera. Based on the kinematic model under nonholonomic constraint, a motion controller is designed, and so as to account for some uncertainties from the wheel-ground friction and slip, the rotational velocity measurement from a gyro is incorporated into the model. This control...
In this paper an implementation of an algorithm for fast visual tracking and localization of mobile agents has been described. Based on an extremely rapid method for visual detection of an object, described localization strategy provides a real time solution suitable for the design of multi-agent control schemes. The agents tracking and localization is carried out through five differently trained...
In the field of underwater exploration, bionic robotic fish are more useful than autonomous underwater vehicles as they have better propulsion ability and fluid adjustability. In this paper, a new method is proposed for the design of an intelligent robotic fish with a 6 degree-of-freedom (DOF) mechanism and equipped with underwater vision for tracking. With its specially designed caudal and pectoral...
The Kalman filtering as a recursive linear estimator is inadequate when applying to non-Gaussian densities and multimodal. Particle Filters sampling in high-dimensional spaces can be inefficient. The use of Rao-Blackwellized particle filters can drastically reduce the size of the space over which we need to sample. In this paper, we proposed an efficient method for using subspace representations by...
This paper presents a strategy for a nonholonomic mobile robot to autonomously follow a target based on vision information from an onboard pan camera unit (PCU). Homography-based techniques are used to obtain relative position and orientation information from the monocular camera images. The proposed kinematic controller, based on the Lyapunov method, achieves uniform ultimately bounded (UUB) tracking.
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