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Conference Paper: Planning image trajectories for visual servoing via LMI-based optimization

TitlePlanning image trajectories for visual servoing via LMI-based optimization
Authors
Issue Date2011
PublisherSpringer Netherlands. The Journal's web site is located at http://www.springer.com/series/7818
Citation
The 6th International Conference on Informatics in Control Automation and Robotics (ICINCO 2009), Milan, Italy, 2-5 July 2009. In Lecture Notes in Electrical Engineering, 2009, v. 85, p. 159-172 How to Cite?
AbstractPath-planning is a key technique in visual servoing, as it allows one to take into account various constraints and optimize a desired performance. This paper addresses the problem of planning image trajectories to be followed by using an image-based visual servoing controller. The proposed technique consists of parametrizing the camera trajectory in the 3D space via polynomials, and by imposing constraints satisfaction and performance optimization via the square matrix representation (SMR) and linear matrix inequalities (LMIs). Examples in the absence and in the presence of uncertainties illustrate and validate the proposed methodology.
DescriptionLNEE v. 85 has title: Informatics in Control Automation and Robotics : Revised and Selected Papers from the International Conference on Informatics in Control Automation and Robotics 2009
Persistent Identifierhttp://hdl.handle.net/10722/136601
ISBN
ISSN
2015 SCImago Journal Rankings: 0.122
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_HK
dc.date.accessioned2011-07-27T02:20:28Z-
dc.date.available2011-07-27T02:20:28Z-
dc.date.issued2011en_HK
dc.identifier.citationThe 6th International Conference on Informatics in Control Automation and Robotics (ICINCO 2009), Milan, Italy, 2-5 July 2009. In Lecture Notes in Electrical Engineering, 2009, v. 85, p. 159-172en_HK
dc.identifier.isbn978-3-642-19729-1-
dc.identifier.issn1876-1100en_HK
dc.identifier.urihttp://hdl.handle.net/10722/136601-
dc.descriptionLNEE v. 85 has title: Informatics in Control Automation and Robotics : Revised and Selected Papers from the International Conference on Informatics in Control Automation and Robotics 2009-
dc.description.abstractPath-planning is a key technique in visual servoing, as it allows one to take into account various constraints and optimize a desired performance. This paper addresses the problem of planning image trajectories to be followed by using an image-based visual servoing controller. The proposed technique consists of parametrizing the camera trajectory in the 3D space via polynomials, and by imposing constraints satisfaction and performance optimization via the square matrix representation (SMR) and linear matrix inequalities (LMIs). Examples in the absence and in the presence of uncertainties illustrate and validate the proposed methodology.en_HK
dc.languageengen_US
dc.publisherSpringer Netherlands. The Journal's web site is located at http://www.springer.com/series/7818en_US
dc.relation.ispartofLecture Notes in Electrical Engineeringen_HK
dc.rightsThe original publication is available at www.springerlink.com-
dc.titlePlanning image trajectories for visual servoing via LMI-based optimizationen_HK
dc.typeConference_Paperen_HK
dc.identifier.emailChesi, G: chesi@eee.hku.hken_HK
dc.identifier.authorityChesi, G=rp00100en_HK
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1007/978-3-642-19730-7_11en_HK
dc.identifier.scopuseid_2-s2.0-79953121337en_HK
dc.identifier.hkuros187536en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-79953121337&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume85en_HK
dc.identifier.spage159en_HK
dc.identifier.epage172en_HK
dc.publisher.placeNetherlands-
dc.identifier.scopusauthoridChesi, G=7006328614en_HK

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