On Viewpoint Control

Abstract

In this paper a reactive and concurrent control framework for viewpoint control is developed. The viewpoint control task is decomposed onto three control objectives; namely, obstacle avoidance, visibility and precision. A moving object is tracked in two panoramic sensors using color, and a scalar uncertainty metric of the object position estimate is introduced. Individual control objectives are accomplished by planning paths using harmonic functions and the task is accomplished using a new subject-to composition operator. It is shown that the system is stable under this composition. The system is demonstrated for tracking a human subject using a fixed panoramic sensor and another panoramic sensor mounted on a mobile platform.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA439278

Entities

People

  • D. R. Karuppiah
  • M. Brewer
  • R. A. Grupen
  • S. Uppala
  • Sai Ravela

Organizations

  • University of Massachusetts Amherst

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Abstracts
  • Detectors
  • Information Operations
  • Instructions
  • Motion Planning
  • Moving Targets
  • Observation
  • Observers
  • Platforms
  • Precision
  • Robotics
  • Robots
  • Simulations
  • Stationary
  • Targets
  • Visibility

Readers

  • Astronomy/Astrophysics
  • Robotics and Automation.
  • Software Engineering.