Departmental Papers (ESE)


We present a working implementation of a dynamics based architecture for visual sensing. This architecture provides field rate estimates of the positions and velocities of two independent falling balls in the face of repeated visual occlusions and departures from the field of view. The practical success of this system can be attributed to the interconnection of two strongly nonlinear dynamical systems: a novel triangulating state estimator; and an image plane window controller. We detail the architecture of this active sensor, provide data documenting its performance, and offer an analysis of its soundness in the form of a convergence proof for the estimator and a boundedness proof for the manager.

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version

October 1996


Copyright 1996 IEEE. Reprinted from IEEE Transactions on Robotics and Automation, Volume 12, Issue 5, October 1996, pages 697-713.

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NOTE: At the time of publication, Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.



Date Posted: 13 March 2008

This document has been peer reviewed.