Active Sensing for Dynamic, Non-holonomic, Robust Visual Servoing

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General Robotics, Automation, Sensing and Perception Laboratory
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Electrical and Computer Engineering
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De, Avik
Bayer, Karl S.

We consider the problem of visually servoing a legged vehicle with unicycle-like nonholonomic constraints subject to second-order fore-aft dynamics in its horizontal plane. We target applications to rugged environments characterized by complex terrain likely to perturb significantly the robot’s nominal dynamics. At the same time, it is crucial that the camera avoid “obstacle” poses where absolute localization would be compromised by even partial loss of landmark visibility. Hence, we seek a controller whose robustness against disturbances and obstacle avoidance capabilities can be assured by a strict global Lyapunov function. Since the nonholonomic constraints preclude smooth point stabilizability we introduce an extra degree of sensory freedom, affixing the camera to an actuated panning axis mounted on the robot’s back. Smooth stabilizability to the robot-orientation-indifferent goal cycle no longer precluded, we construct a controller and strict global Lyapunov function with the desired properties. We implement several versions of the scheme on a RHex robot maneuvering over slippery ground and document its successful empirical performance. For more information: Kod*Lab

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BibTeX entry @inproceedings{de_active_servoing_2014, author = {Avik De and Karl S. Bayer and Daniel E. Koditschek}, title = {Active Sensing for Dynamic, Non-holonomic, Robust Visual Servoing}, booktitle = {{IEEE} International Conference on Robotics and Automation}, month = {May}, year = {2014} } This work was supported in part by AFOSR MURI FA9550–10–1−0567 and in part by NSF CDI-II 1028237. Copyright 2014 IEEE. Reprinted from 2014 IEEE Intl. Conference on Robotics and Automation. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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