Visual Servo with Dynamics : Control of an Unmanned Blimp ( Technical Report

  title={Visual Servo with Dynamics : Control of an Unmanned Blimp ( Technical Report},
  author={Hong Zhang and James P. Ostrowski},
Image-based control of free-ying mechanical systems is addressed, with application to an indoor, vision-guided blimp. A methodology is developed for performing visual servoing by incorporating the physical parameters of a mechanical system into the image plane dynamics. It is noted that under suitable conditions, namely the existence of a diieomorphism between image features and the robot pose, many of the tools from mechanical systems control theory can be used directly when applied in the… CONTINUE READING
7 Citations
22 References
Similar Papers


Publications referenced by this paper.
Showing 1-10 of 22 references

The Mechanics and Control of Undulatory Robotic Locomotion

  • J. P. Ostrowski
  • PhD thesis, California Institute of Technology,
  • 1995
Highly Influential
3 Excerpts

Re ective surfaces as computational sensors

  • A. Hicks
  • In Second IEEE Workshop on Perception for Mobile…
  • 1999
1 Excerpt

Airship dynamic modeling for autonomous operation

  • S.B.V. Gomes, J.J.G. Ramos
  • IEEE International Conference on Robotics and…
  • 1998
2 Excerpts

Similar Papers

Loading similar papers…