Visually servoed trajectory tracking of underactuated water surface robots without position measurement

@article{Wang2013VisuallyST,
  title={Visually servoed trajectory tracking of underactuated water surface robots without position measurement},
  author={Kai Wang and Yunhui Liu and Luyang Li},
  journal={2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  year={2013},
  pages={26-31}
}
In the past decade, a lot of efforts are devoted to the researches of trajectory tracking of underactuated water surface robots (or boats, surface vessels, etc.), and a batch of controllers are available now for this challenging problem. However, most, if not all, of the existing trajectory tracking controllers of the underactuated water surface robots assume the global positions of the robots can be measured. In practice, the global position measurement systems are sometimes unstable or even… CONTINUE READING