Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 28 for “"visual servoing"”.
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Path planning for image based visual servoing
This thesis deals with Visual Servoing and its strictly connected disciplines like projective geometry, image processing, robotics and non-linear control. More specifically the work addresses the problem to control a robotic manipulator through one of the largely used Visual Servoing techniques: …
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Predictive visual servoing; uncertainty analysis and probabilistic robust frameworks
… shows promise. In this context, image-based visual predictive controllers have gained attention due to their optimal-ity and constraint-handling capabilities. However, their performance deteriorates in presence of uncertainties in the robotic platforms, system models, and measurements. This …
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Visual servoing for pose control of soft continuum arms
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2022-11-11 without embargo terms
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Hardware Testbed for Relative Navigation of Unmanned Vehicles Using Visual Servoing
Future generations of unmanned spacecraft, aircraft, ground, and submersible vehicles will require precise relative navigation capabilities to accomplish missions such as formation operations and autonomous rendezvous and docking. The development of relative navigation sensing and control …
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Soft continuum arms for agricultural manipulation: model based control, grasp state classification, and visual servoing
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2027-08-01
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Robotic Goal-Based Semi-Autonomous Algorithms Improve Remote Operator Performance
… Two semi-autonomous algorithms were examined: visual servoing and visual dead reckoning. Visual servoing uses computer vision techniques to generate movement commands while using internal properties of the camera combined with sensor data that tell the robot its current position based on its …
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Visual servo control on a humanoid robot
… with the control of a humanoid robot based on visual servoing. It seeks to confer a degree of autonomy to the robot in the achievement of tasks such as reaching a desired position, tracking or/and grasping an object. The autonomy of humanoid robots is considered as crucial for the success of …
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Control visual de un vehiculo aereo autonomo usando deteccion y seguimiento de caracterısticas en espacios exteriores
… concerns in most applications. We address the visual servoing problem for an Unmanned Aerial Vehicle (UAV) in outdoor environments, specifically an autonomous robotic helicopter. We propose vision-based techniques which allow an UAV to perform maneuvers towards features of interest when GPS has …
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Modified System Design and Implementation of an Intelligent Assistive Robotic Manipulator
… from leaving the view of the cameras used for visual servoing. This is achieved by adding a weight matrix to the proportional part of the controller that is constrained by an artificial ROI. When the feature points being used are approaching the boundaries of the ROI, the optimized controller …
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Development of a light-weight manipulator system for an omni-directional multi-rotor platform
… ability to complete disturbance rejection using visual servoing, the manipulator system provides the potential for pick-and-place operations. Physical testing of the prototype verified its ability to detect and track objects in both stationary and moving configurations as well as operate in …
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Control visual basado en características de un sistema articulado. Estimación del jacobiano de la imagen utilizando múltiples vistas
En la presente tesis se aborda el control visual de un sistema de tres grados de libertad utilizando dos cámaras fijas débilmente calibradas. Se trabaja con un esquema de Control Basado en Imagen, y más específicamente en la estimación en línea del jacobiano de la imagen. Se proponen nuevos …
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A semi-autonomous vision-based navigation system for a mobile robotic vehicle
… implemented within a payload module built for a visual servoing task. The system design relies on a flexible communication protocol to integrate with the robot and operator control unit. Overall, the system is a useful augmentation for a flexible robotic platform for enabling better …
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Viewpoint Optimization for Autonomous Strawberry Harvesting with Deep Reinforcement Learning
… than our best baseline policy, which uses visual servoing. Visual investigation shows the agent is able to fixate on favorable viewpoints, despite having no explicit means to propagate information through time. Overall, we conclude that deep reinforcement learning is a promising area of …
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Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle
… the development of an independent, on-board visual servoing system which allows a computationally impoverished aerial vehicle to autonomously identify and track a dynamic surface target. Image segmentation and target tracking algorithms are developed for the specific task of monitoring whales …
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Robotic Grasping of Fully-Occluded Objects using RF Perception
… It introduces two main innovations: (1) an RF-visual servoing controller that uses the RFID’s location to selectively explore the environment and plan an efficient trajectory toward an occluded target, and (2) an RF-visual deep reinforcement learning network that can learn and execute …
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A Hybrid Tracking Approach for Autonomous Docking in Self-Reconfigurable Robotic Modules
… wheeled assembly. This thesis also presents a visual-based onboard Hybrid Target Tracking algorithm to detect and follow a target robot leading to autonomous docking between the modules. As a result of this proposed approach, the tracked features are then used to bring the robots in sufficient …
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Developing a mobile manipulation system to handle unknown and unstructured objects
… utilized as sensing feedback to integrate into a visual servoing system to achieve autonomous mobile manipulation. Experimental findings from simulations and real-world settings showed the efficiency of using computer-generated datasets, that can be generalized to the physical mobile-manipulator …
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Autonomous Convoy Study of Unmanned Ground Vehicles using Visual Snakes
Many applications for unmanned vehicles involve autonomous interaction between two or more craft, and therefore, relative navigation is a key issue to explore. Several high fidelity hardware simulations exist to produce accurate dynamics. However, these simulations are restricted by size, weight, …
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Vision-based shape reconstruction and control of soft continuum arms
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2024-08-01
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Map-Based Localization for Unmanned Aerial Vehicle Navigation
… art model-based tracker called ViSP (Visual Servoing Platform) was applied in tracking outdoor and indoor buildings using a UAVs low-cost camera. The assessment revealed weaknesses at large scales. Specifically, ViSP failed when tracking was lost, and needed to be manually …
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