Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing

A recent T-RO paper by researchers at ‪@CentraleNantes‬, Sorbonne Université and ‪@InriaOfficiel‬ addresses the local minima problem in image-based visual servoing systems by describing a formal approach for the exhaustive computation of all minima and unstable equilibria.
Paper title: Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing
Authors: Alessandro Colotti, Jorge García Fontán, Alexandre Goldsztejn, Sébastien Briot, François Chaumette, Olivier Kermorgant, and Mohab Safey El Din
Image caption: Computed equilibria and a selection of heteroclinic orbits, both in 3-D and image space. (a) Case 1a . (b) Case 1b .
Paper link: ieeexplore.iee...
#VisualServoing #RobotKinematics #ComputationalModeling #EquilibriumState

[@blzr8]

mh, yes
perfect!
(no idea what am looking at)