Departmental Papers (ESE)


We describe a hybrid planar image-based servo algorithm which, for a simplified planar convex rigid body, converges to a static goal for all initial conditions within the workspace of the camera. This is achieved by using the sequential composition of a palette of continuous image based controllers. Each sub-controller, based on a specified set of collinear feature points, is shown to converge for all initial configurations in which the feature points are visible. Furthermore, the controller guarantees that the body will maintain a "visible" orientation, i.e. the feature points will always be in view of the camera. This is achieved by introducing a change of coordinates from SE(2) to an image plane measurement of three points, and imposing a navigation function in that coordinate system. Our intuition suggests that appropriately generalized versions of these ideas may be extended to SE(3)

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

May 1999


Copyright 1999 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 1, 1999, pages 611-617.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 03 June 2008

This document has been peer reviewed.