Guillaume Allibert

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—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)
This paper deals with the design of a real-time controller for trajectory tracking in the image plane. The Image-Based Visual Servoing (IBVS) task is addressed by a visual predictive approach. The trajectory tracking is formulated into a nonlinear optimization problem in the image plane. The unavoidable constraints in experiments are easily taken into(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)
A nonlinear visual servoing approach is proposed for the stabilisation of fully-actuated autonomous underwater vehicles (AUVs) by exploiting the homography matrix between the two images of a planar scene. In a cascade manner, an outer-loop control defines a reference setpoint based on the homography matrix, and an inner-loop control ensures the(More)
In this chapter, image-based visual servoing is addressed via nonlinear model predictive control. The visual servoing task is formulated into a nonlinear optimization problem in the image plane. The proposed approach, named visual pre-dictive control, can easily and explicitly take into account 2D and 3D constraints. Furthermore, the image prediction over a(More)
Servoing methods were developed to enable inspection of underwater structures by autonomous vehicles in industrial oil & gas context. Pipeline following and planar object tracking were targeted, using video camera as the principal sensor. A non-linear inner-loop control was used to stabilise the complex dynamics of the vehicle. Pipeline following and planar(More)