Vision based control of aerial robotic vehicles using the port Hamiltonian framework

Robert Mahony*, Stefano Stramigioli, Jochen Trumpf

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    16 Citations (Scopus)

    Abstract

    This paper investigates the formulation of sensor based control for aerial robotic vehicles based on the port Hamiltonian framework. The paper considers the particular case of vision based control and develops a model for an "infinite dimensional" visual energy port that uses optical flow in the image plane as a "velocity" in the port Hamiltonian formalism.

    Original languageEnglish
    Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages3526-3532
    Number of pages7
    ISBN (Print)9781612848006
    DOIs
    Publication statusPublished - 2011
    Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
    Duration: 12 Dec 201115 Dec 2011

    Publication series

    NameProceedings of the IEEE Conference on Decision and Control
    ISSN (Print)0743-1546
    ISSN (Electronic)2576-2370

    Conference

    Conference2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
    Country/TerritoryUnited States
    CityOrlando, FL
    Period12/12/1115/12/11

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