Guillaume Allibert

Learn More
—This paper deals with the image-based visual servoing (IBVS), subject to constraints. Robot workspace limitations, visibility constraints, and actuators limitations are addressed. These constraints are formulated into state, output, and input constraints, respectively. Based on the predictive-control strategy, the IBVS task is written into a nonlinear(More)
with the camera is used to predict the evolution of the visual feature on a future horizon. The main interest of this method is the capability to easily take into account different constraints like mechanical limitations and/or visibility contraints. Simulation experiments are performed on a planar manipulator with an omnidirectional camera. Comparisons(More)
— The purpose of this paper is to estimate the position of a human in the image frame and to use this information to diagnose falls. A nonholonomic locomotion model describes the displacement of the human due to the similarities between human and nonholonomic mobile robot displacements. To estimate the human position in the world frame, the principle of(More)
— This paper describes a nonlinear image-based visual servo control algorithm for the pipeline tracking problem of a fully-actuated underwater vehicle. The dynamic model of a generic autonomous underwater vehicle (AUV), incorporating all significant forces and torques is developed and a generic velocity control strategy is proposed. The desired velocities(More)
— The purpose of this paper is to show what image prediction can bring to Image-Based Visual Servoing. The visual feature prediction is obtained thanks to the interaction matrix. Based on a Model Predictive Control strategy, the visual servoing task is formulated into an optimization problem. The error between the reference features and the predicted(More)
— This paper addresses the choice of the control horizon in a Nonlinear Model Predictive Control (NMPC) strategy for nonholonomic vehicles. The latter can be modeled by chained systems. We establish a relation between the degree of nonholonomy and the minimum length of the control horizon so as to make the full-state control possible. A necessary condition(More)
— This paper deals with state feedback control of chained systems based on a Nonlinear Model Predictive Control (NMPC) strategy. Chained systems can model many common nonholonomic vehicles. We establish a relation between the degree of nonholonomy and the minimum length of the control horizon so as to make the NMPC feasible. A necessary condition on the(More)
  • 1