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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

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version



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.

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Date Posted: 19 February 2014

This document has been peer reviewed.