Shuo Han, Andrea Censi, Andrew D. Straw, and Richard M. Murray. A bio-plausible design for visual pose stabilization. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5679–5686. Taipei, Taiwan, October 2010. pdfdoi video slides

bibtex

    @inproceedings{han10pose,
        author = "Han, Shuo and Censi, Andrea and Straw, Andrew D. and Murray, Richard M.",
        doi = "10.1109/IROS.2010.5652857",
        title = "A bio-plausible design for visual pose stabilization",
        booktitle = "{IEEE/RSJ} International Conference on Intelligent Robots and Systems (IROS)",
        year = "2010",
        month = "October",
        slides = "http://purl.org/censi/research/2009-cdc-bio-attitude-slides.pdf",
        video = "http://purl.org/hanshuo/2010/pd_pose_stabilization",
        pages = "5679--5686",
        address = "Taipei, Taiwan",
        pdf = "http://purl.org/censi/research/2010-iros-bioplausible_pose.pdf",
        abstract = "We consider the problem of purely visual pose stabilization (also known as servoing) of a second-order rigid-body system with six degrees of freedom: how to choose forces and torques, based on the current view and a memorized goal image, to steer the pose towards a desired one. Emphasis has been given to the bio-plausibility of the computation, in the sense that the control laws could be in principle implemented on the neural substrate of simple insects. We show that stabilizing laws can be realized by bilinear/quadratic operations on the visual input. This particular computational structure has several numerically favorable characteristics (sparse, local, and parallel), and thus permits an efficient engineering implementation. We show results of the control law tested on an indoor helicopter platform."
    }
    

Andrea Censi, Shuo Han, Sawyer B. Fuller, and Richard M. Murray. A bio-plausible design for visual attitude stabilization. In Proceedings of the 48th IEEE Conference on Decision and Control. Shanghai, China, December 2009. pdfdoi slides

bibtex

    @inproceedings{censi09attitude,
        author = "Censi, Andrea and Han, Shuo and Fuller, Sawyer B. and Murray, Richard M.",
        doi = "10.1109/CDC.2009.5400408",
        title = "A bio-plausible design for visual attitude stabilization",
        booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control",
        year = "2009",
        month = "December",
        slides = "http://purl.org/censi/research/2009-cdc-bio-attitude-slides.pdf",
        address = "Shanghai, China",
        pdf = "http://purl.org/censi/research/2009-cdc-bio-attitude.pdf"
    }