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)
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)
This paper deals with image based visual servoing (IBSV) by a visual predictive control (VPC) approach. Based on nonlinear model predictive control (NMPC), the visual servoing problem is formulated into a nonlinear constrained minimization problem in the image plane. A global model describing the behavior of the robotic system equipped with the camera is(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)
A key requirement for effective control of quadrotor vehicles is estimation of both attitude and linear velocity. Recent work has demonstrated that it is possible to measure horizontal velocities of a quadrotor vehicle from strap-down ac-celerometers along with a system model. In this paper we extend this to full body-fixed-frame velocity measurement by(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 in(More)
Flight performance of aerial robotic vehicles is critically dependent on the quality of the state estimates provided by onboard sensor systems. The attitude estimation problem has been extensively studied over the last ten years and the development of low complexity, high performance, robust non-linear observers for attitude has been one of the enabling(More)
Image-based visual servoing (IBVS) is now recognized to be an efficient and robust control strategy to guide robots using only visual data. Classical IBVS is commonly based on the Cartesian coordinates of points in the image. Although the convergence of the visual features to the desired ones is generally achieved, classical IBVS can lead to unnecessary(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 features(More)