Events Calendar

CS Colloquia: Partitioned and Hybrid Methods for Visual Servo Control

Title: Partitioned and Hybrid Methods for Visual Servo ControlSpeaker: Prof. Seth Hutchinson(UIUC)ABSTRACT:
Visual servo control concerns the problem of controlling robots using
real-time computer vision feedback. While numerous approaches have
evolved, and many systems have been demonstrated in laboratories around
the world, most can be classified as either position-based or image-based,
depending on whether camera pose or image features are used in the control
law. Each approach has well-documented performance problems.In this talk, after a brief description of these methods and their
respective shortcomings, I will describe two approaches to overcoming
their performance problems. With the first approach, the control system
is partitioned along its spatial degrees of freedom. Rotation about and
translation along the optical axis are controlled by a specifically
designed controller, and the remaining degrees of freedom are controlled
with a traditional image-based method. With the second approach, a
hybrid, switched control system selects either an image-based or
position-based controller at each time instant, using a state-based
switching scheme. The performance of both of these approaches have been
verified by a variety of simulated and experimental results. If time
permits, I will also describe recent results applying a switched method to
the control of a unicycle robot with field-of-view constraints.BIO:
Seth Hutchinson received his Ph.D. from Purdue University in 1988. In
1990 he joined the faculty at the University of Illinois in
Urbana-Champaign, where he is currently a Professor in the Department of
Electrical and Computer Engineering, the Coordinated Science Laboratory,
and the Beckman Institute for Advanced Science and Technology. Dr.
Hutchinson serves as the Editor-in-Chief for the RAS Conference Editorial
Board, and on the editorial boards of the International Journal of
Robotics Research and the Journal of Intelligent Service Robotics. He
served as Associate and then Senior Editor for the IEEE Transactions on
Robotics and Automation, now the IEEE Transactions on Robotics, from
1997-2005. In 1996 he was a guest editor for a special section of the
Transactions devoted to the topic of visual servo control, and in 1994 he
was co-chair of an IEEE Workshop on Visual Servoing. In 1996 and 1998 he
co-authored papers that were finalists for the King-Sun Fu Memorial Best
Transactions Paper Award. He was co-chair of IEEE Robotics and Automation
Society Technical Committee on Computer and Robot Vision from 1992 to
1996, and has served on the program committees for more than fifty
conferences related to robotics and computer vision. He has published
more than 150 papers on the topics of robotics and computer vision, and is
coauthor of the books 'Principles of Robot Motion: Theory, Algorithms, and
Implementations', published by MIT Press, and 'Robot Modeling and
Control', published by Wiley.

Location: Seaver Science Library (SSL) - 150

Audiences: Everyone Is Invited

Contact: CS Colloquia