Vision based control of aerial robotic vehicles using the port Hamiltonian framework
Date
2011
Authors
Mahony, Robert
Stramigioli, Stefano
Trumpf, Jochen
Journal Title
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Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
This paper investigates the formulation of sensor based control for aerial robotic vehicles based on the port Hamiltonian framework. The paper considers the particular case of vision based control and develops a model for an "infinite dimensional" visual
Description
Keywords
Keywords: Aerial robotics; Hamiltonian formalism; Image plane; Infinite dimensional; Sensor-based control; Vision based control; Robotics; Hamiltonians
Citation
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Source
Proceedings of the IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)
Type
Conference paper
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Restricted until
2037-12-31