Departmental Papers (ESE)


We describe work-in-progress toward a nonlinear image-based rigid body dynamic triangulator which we believe tracks a moving target from "essentially all" initial conditions (all initial conditions except a set of measure zero). The dynamic triangulator depends on the goal state only through its image plane position and velocity and requires a navigation function, imposed directly upon image features, to serve as a regressor for a gradient-like state update law.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

May 1998


Copyright 1998 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 3, 1998, pages 2658-2663.

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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.