报告题目：Fundamental Problems in Visual Servoing: Object Matching, Global Convergence, and Path Planning
报告摘要：The term “visual servoing” refers to the task of moving a robot to a reference position based on the images provided by cameras observing a reference object and possibly the robot. This talk considers the typical configuration known as eye-in-hand visual servoing, where only one camera is used, mounted on the robot end-effector. Three fundamental problems are discussed. The first problem, object matching, consists of establishing which object point in one view corresponds to another object point in another view. The second problem, global convergence, consists of ensuring that the reference position is reached from any possible initial one, hence guaranteeing that the reference object remains in the field of view of the camera. The third problem, path planning, consists of ensuring that workspace constraints, joint constraints, and obstacle avoidance, are taken into account, possibly optimizing a cost. Some solutions are presented for these problems.
Graziano Chesi received the Laurea from the University of Florence in 1997 and the Ph.D. from the University of Bologna in 2001. He joined the University of Siena in 2000 and the University of Hong Kong in 2006. Dr. Chesi served as Associate Editor for Automatica, the European Journal of Control, the IEEE Transactions on Automatic Control, the IEEE Transactions on Computational Biology and Bioinformatics, and Systems and Control Letters. He founded and served as chair of the Technical Committee on Systems with Uncertainty of the IEEE Control Systems Society. He served as chair of the Best Student Paper Award Committees for the IEEE Conference on Decision and Control and the IEEE Multi-Conference on Systems and Control. Dr. Chesi is author of the books “Homogeneous Polynomial Forms for Robustness Analysis of Uncertain Systems” (Springer 2009) and “Domain of Attraction: Analysis and Control via SOS Programming” (Springer 2011). He is first author in more than 160 publications. He is a Fellow of the IEEE.