Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


O. Bourquardez, N. Guenard, T. Hamel, F. Chaumette, R. Mahony, L. Eck. Kinematic visual servo controls of an X4-flyer: practical study. In Mediterranean Conf. on Intelligent Systems and Automation, CISA'08, Annaba, Algeria, June 2008.

Download [help]

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow


Image moments provide an important class of image features used for image-based visual servo control. Perspective zeroth and first order image moments provide a quasi linear and decoupled link between the image features and the translational degrees of freedom. Spherical first-order image moments have the additional desirable passivity property. They allow to decouple the position control scheme from the rotation dynamics. This property is suitable to control an under-actuated aerial vehicle such as a quadrotor. In this paper a range of kinematic control laws using spherical image moments and perspective image moments arehttp://rainbow-doc.irisa.fr/publi/ experimented on a quadrotor aerial vehicle prototype. The task considered is to reach a desired position with respect to a specified target. Three control schemes show excellent performances in practice whereas each one has different theoretical properties


Francois Chaumette

BibTex Reference

   Author = {Bourquardez, O. and Guenard, N. and Hamel, T. and Chaumette, F. and Mahony, R. and Eck, L.},
   Title = {Kinematic visual servo controls of an X4-flyer: practical study},
   BookTitle = {Mediterranean Conf. on Intelligent Systems and Automation, CISA'08},
   Address = {Annaba, Algeria},
   Month = {June},
   Year = {2008}

EndNote Reference [help]

Get EndNote Reference (.ref)