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

Robert Mahony; Stefano Stramigioli; Jochen Trumpf

doi:10.1109/CDC.2011.6160558

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 proceeding › Conference contribution › Academic › peer-review

16 Citations (Scopus)

13 Downloads (Pure)

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 language	English
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages	3526-3532
Number of pages	7
DOIs	https://doi.org/10.1109/CDC.2011.6160558
Publication status	Published - 1 Dec 2011
Event	50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - USA, United States Duration: 12 Dec 2011 → 15 Dec 2011 Conference number: 50

Conference

Conference	50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Abbreviated title	CDC-ECC
Country/Territory	United States
City	USA
Period	12/12/11 → 15/12/11

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10.1109/CDC.2011.6160558

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title = "Vision based control of aerial robotic vehicles using the port Hamiltonian framework",

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.",

author = "Robert Mahony and Stefano Stramigioli and Jochen Trumpf",

year = "2011",

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doi = "10.1109/CDC.2011.6160558",

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booktitle = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011",

note = "50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, CDC-ECC ; Conference date: 12-12-2011 Through 15-12-2011",

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Mahony, R, Stramigioli, S & Trumpf, J 2011, Vision based control of aerial robotic vehicles using the port Hamiltonian framework. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6160558, pp. 3526-3532, 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, USA, Florida, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6160558

Vision based control of aerial robotic vehicles using the port Hamiltonian framework. / Mahony, Robert; Stramigioli, Stefano; Trumpf, Jochen.
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. 2011. p. 3526-3532 6160558.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Stramigioli, Stefano

AU - Trumpf, Jochen

N1 - Conference code: 50

PY - 2011/12/1

Y1 - 2011/12/1

N2 - 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.

AB - 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.

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DO - 10.1109/CDC.2011.6160558

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SN - 9781612848006

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EP - 3532

BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011

T2 - 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011

Y2 - 12 December 2011 through 15 December 2011

ER -

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

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