Departmental Papers (ESE)


This paper presents a framework for visual servoing that guarantees convergence to a visible goal from almost every initially visible configurations while maintaining full view of all the feature points along the way. The method applies to first- and second-order fully actuated plant models. The solution entails three components: a model for the "occlusion-free" configurations; a change of coordinates from image to model coordinates; and a navigation function for the model space. We present three example applications of the framework, along with experimental validation of its practical efficacy.

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version

August 2002


Copyright 2002 IEEE. Reprinted from IEEE Transactions on Robotics and Automation, Volume 18, Issue 4, August 2002, pages 521-533.

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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.


dynamics, finite field of view (FOV), navigation functions, obstacle avoidance, occlusions, vision-based control, visual servoing



Date Posted: 13 March 2008

This document has been peer reviewed.