Tutorial TT3: Visual Servo Control Hager/Hutchinson/Corke Preface (2008)
Gregory D. Hager, Seth Hutchinson, Peter Corke, Greg Hager, Peter Corke
we organized a workshop on visual servo control. The workshop was an overwhelming success, with over 60 participants interested in hearing about the current state of visionbased control. A short poll...
Mark W. Spong, Seth Hutchinson, M. Vidyasagar, Robot Modeling, John Wiley, ...
3 hours of lecture per week.
Peter Leven, Seth Hutchinson, Peter Leven, Seth Hutchinson
We present a new method for generating collision-free paths for robots operating in changing environments. Our approach is closely related to recent probabilistic roadmap approaches. These planners...
Robotics and Automation Development of a Visual Space-Mouse (2008)
Tobias Peter, Kurpjuhn Kevin Nickels, Alexa Hauck, Seth Hutchinson
The pervasiveness of computers in everyday life coupled with recent rapid advances in computer technology have created both the need and the means for sophisticated Human Computer Interaction (HCI)...
We present a new method for generating collision-free paths for robots operating in changing environments. Our approach is closely related to recent probabilistic roadmap approaches. These planners...
Sourabh Bhattacharya, Rafael Murrieta-cid, Seth Hutchinson
Abstract — In this paper we consider the problem of planning optimal paths for a differential drive robot with limited sensing, that must maintain visibility of a fixed landmark as it navigates in...
Planning Exploration Strategies for Simultaneous Localization and Mapping Benjamín Tovar (2008)
Lourdes Muñoz-gómez, Rafael Murrieta-cid, Moisés Alencastre-mir, Raúl Monroy, Seth Hutchinson
In this paper, we present techniques that allow one or multiple mobile robots to efficiently explore and model their environment. While much existing research in the area of Simultaneous Localization...
Tutorial TT3: A Tutorial on Visual Servo Control (2007)
Gregory Hager, Seth Hutchinson, Peter Corke
this article, the task in visual servoing is to use visual information to control the
Development of a Visual Space-Mouse (2007)
Tobias Peter Kurpjuhn, Kevin Nickels, Tobias Peter, Kurpjuhn Kevin Nickels, Alexa Hauck, Seth Hutchinson
The pervasiveness of computers in everyday life coupled with recent rapid advances in computer technology have created both the need and the means for sophisticated Human Computer Interaction (HCI)...
Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, ...
preliminary draft meant for review.
Surveillance strategies for a pursuer with finite sensor range (2007)
Rafael Murrieta-cid, Ro Sarmiento, Sourabh Bhattacharya, Seth Hutchinson
This paper addresses the pursuit-evasion problem of maintaining surveillance by a pursuer of an evader in a world populated by polygonal obstacles. This requires the pursuer to plan collision-free...
Motion strategies for surveillance (2007)
Sourabh Bhattacharya, Salvatore Candido, Seth Hutchinson
Abstract — We address the problem of surveillance in an environment with obstacles. We show that the problem of tracking an evader with one pursuer around one corner is completely decidable. The...
Visual Servo Control, Part I: Basic Approaches (2006)
This article is the first of a two-part series on the topic of visual servo control—using computer vision data in the servo loop to control the motion of a robot. In the present article, we...
Path planning for permutation-invariant multirobot formations (2006)
Stephen Kloder, Student Member, Seth Hutchinson, Senior Member
Abstract — In many multi-robot applications, the specific assignment of goal configurations to robots is less important than the overall behavior of the robot formation. In such cases, it is...
Optimal Motion Strategies Based on Critical Events to Maintain Visibility of a Moving Target (2005)
Teja Muppirala, Rafael Murrieta-Cid, Seth Hutchinson
In this paper, we consider the surveillance problem of maintaining visibility at a fixed distance of a mobile evader using a mobile robot equipped with sensors.
A Sample-based Convex Cover for Rapidly Finding (2005)
An Object In, Ro Sarmiento, Rafael Murrieta-cid, Seth Hutchinson
In this paper we address the problem of generating a motion strategy to find an object somewhere in a known 3-D environment as quickly as possible on average.
A Sampling-Based Motion Planning Approach to Maintain Visibility of Unpredictable Targets (2005)
Rafael Murrieta-Cid, Benjamn Tovar, Seth Hutchinson
This paper deals with the surveillance problem of computing the motions of one or more robot observers in order to maintain visibility of one or several moving targets. The targets are assumed to...
Planning Expected-time Optimal Paths for Searching Known Environments (2004)
Alejandro Sarmiento, Rafael Murrieta-Cid, Seth Hutchinson
In this paper we address the problem of finding time optimal search paths in known environments. In particular, the task is to search a known environment for an object whose unknown location is...
Path Planning for a Differential Drive Robot: Minimal Length Paths-A Geometric Approach (2004)
Sourabh Bhattacharya, Rafael Murrieta-cid, Seth Hutchinson
{ sbhattac, murrieta, seth} @ uiuc.edu Abstract — This work presents the minimal length paths, for a robot that maintains visibility of a landmark. The robot is a differential drive system and has...
A configuration space for permutation-invariant multi-robot formations (2004)
Stephen Kloder, Sourabh Bhattacharya, Seth Hutchinson
Abstract — In this paper we describe a new representation for a configuration space for formations of robots that translate in the plane. What makes this representation unique is that it is...
Rafael Murrieta, Alejandro Sarmiento, Seth Hutchinson
This paper deals with the problem of computing the motions of a robot observer in order to maintain visibility of a moving target. The target moves unpredictably, and the distribution of obstacles in...
Estimating Uncertainty in SSD-Based Feature Tracking (2002)
Kevin Nickels, Seth Hutchinson
SSD-based feature trackers have enjoyed growing popularity in recent years, particularly in the eld of visual servo control of robotic manipulators. These trackers use a sum-of-squared-dierences...
Coordinating the Motions of Multiple Robots with Specified Trajectories (2002)
Srinivas Akella, Seth Hutchinson
Coordinating the motions of multiple robots operating in a shared workspace without collisions is an important capability. We address the task of coordinating the motions of multiple robots when...
Model-based tracking of complex articulated objects (2001)
Kevin Nickels, Seth Hutchinson, Senior Member
Abstract—In this paper, we present methods for tracking complex, articulated objects. We assume that an appearance model and the kinematic structure of the object to be tracked are given, leading...
Model-based tracking of complex articulated objects (2001)
Kevin Nickels, Seth Hutchinson
Abstract | In this paper we present methods for tracking complex, articulated objects. We assume that an appearance model and the kinematic structure of the object to be tracked are given, leading to...
Measurement Error Estimation for Feature Tracking (1999)
Kevin Nickels, Seth Hutchinson
Performance estimation for feature tracking is a critical issue, if feature tracking results are to be used intelligently. In this paper, we derive quantitative measures for the spatial accuracy of a...
Model-Based Tracking of Complex Articulated Objects (1999)
Kevin Nickels, Seth Hutchinson
In this paper we present methods for tracking complex, articulated objects. We assume that an appearance model and the kinematic structure of the object to be tracked are given, leading to what is...
Weighting observations: The use of kinematic models in object tracking (1998)
Kevin Nickels, Seth Hutchinson
We describe a model-based object tracking system that updates the configuration parameters of an object model based upon information gathered from a sequence of monocular images. Realistic object and...
Integrated Object Models for Robust Visual Tracking (1998)
Kevin Nickels, Seth Hutchinson
The robustness of visual tracking, or following the movement of objects in images, can be improved with an explicit model for the objects being tracked. In this paper, we investigate the use of an...
Weighting Observations: The use of Kinematic Models in Object Tracking (1998)
Kevin Nickels, Seth Hutchinson
We describe a model-based object tracking system that updates the configuration parameters of an object model based upon information gathered from a sequence of monocular images. Realistic object and...
Characterizing the Uncertainties in Point Feature Motion for Model-Based Object Tracking (1997)
Kevin Nickels, Seth Hutchinson
We describe a model-based object tracking system that updates the configuration parameters of an object model based upon information gathered from a sequence of monocular images. We formulate the...
Textured Image Segmentation: Returning Multiple Solutions (1997)
Kevin M. Nickels, Seth Hutchinson
Traditionally, the goal of image segmentation has been to produce a single partition of an image. This partition is compared to some "ground truth," or human approved partition, to evaluate...
Rajeev Sharma, Steven M. Lavalle, Seth Hutchinson
Abstract Gross-motion planning for assembly is commonly considered as a distinct, isolated step between task sequencing/scheduling and fine-motion planning. In this paper we formulate a problem of...
Rajeev Sharma, Steven M. Lavalle, Seth Hutchinson
Gross-motion planning for assembly is commonly considered as a distinct, isolated step between task sequencing/scheduling and fine-motion planning. In this paper we formulate a problem of delivering...
A Tutorial on Visual Servo Control (1996)
Seth Hutchinson, Greg Hager, Peter Corke
This paper provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We...
Visual Compliance: Task-Directed Visual Servo Control (1994)
Andrés Castano, Seth Hutchinson
In this paper we introduce visual compliance, a new vision-based control scheme that lends itself to task-level specification of manipulation goals. Visual compliance is effected by a hybrid...
On the Performance of State Estimation for Visual Servo Systems (1994)
Brad Bishop, Seth Hutchinson, Mark Spong
In this paper we discuss the use of computer vision for real--time state estimation in feedback control systems. To this end, we construct a system for visual state estimation of simple state vectors...