We present the first perception-aware model predictive control framework for quadrotors that
unifies control and planning with respect to action and perception objectives. Our framework …

Motion planning for autonomous active perception in cluttered environments remains a
challenging problem, requiring real-time solutions that both maximize safety and achieve a …

Contact-based aerial interaction control in unknown environments is a challenging issue. To
solve this problem, this paper presents an image-based impedance control scheme for an …

Nowadays ubiquitous robots must be adaptive and easy to use. To this end, dynamical
system-based imitation learning plays an important role. In fact, it allows to realize stable …

This paper investigates the performance of neural networks in positioning an industrial robot
manipulator based on image feedback. Visual servoing regulates the pose of the robot …

To be useful in everyday environments, robots must be able to identify and locate real-world
objects. In recent years, video object segmentation has made significant progress on …

Humans tend to build environments with structure, which consists of mainly planar surfaces.
From the intersection of planar surfaces arise straight lines. Lines have more degrees of …

This paper presents a novel constrained image-based visual servoing (IBVS) approach that
guarantees target features to remain within the camera field of view (FOV) for the duration of …

Visual monitoring operations underwater require both observing the objects of interest in
close-proximity, and tracking the few feature-rich areas necessary for state estimation. This …

This paper proposes a trifocal tensor-based approach for six-degree-of-freedom visual
servoing. The trifocal tensor model among the current, desired, and reference views is …