Maintaining Visibility of Dynamic Objects in Cluttered Environments Using Mobile Manipulators and Vector Field Inequalities
Fatih Dursun,Bruno Vilhena Adorno,Simon Watson,Wei Pan,Fatih Dursun,Bruno Vilhena Adorno,Simon Watson,Wei Pan
Vision-based perception has become prevalent in robotic applications, especially in those where the control loop relies on visual data, such as visual servoing. For those applications, ensuring that the features or target object remain visible to the camera is critical, necessitating visibility-aware control. In this paper, we propose a method to guarantee the visibility of a dynamic object using ...
