GARCIA FONTÁN Jorge
Dirección de investigación : Mohab SAFEY EL DIN
Co-supervisión : BRIOT Sébastien
Singularity and stability analysis of vision-based controllers
The objective of this PhD thesis is to explore the failure cases of Image-Based Visual Servoing (IBVS), a class of Robotics controllers based on computer vision data. The failure cases arise from two sources:
- The singularities of the governing kinematic equations, leading to issues in the controllability of the system.
- The existence of multiple equilibrium points of the system, as a consequence of which the convergence of IBVS is not guaranteed.
In this thesis we approach the above problems using advanced tools from computer algebra and algebraic geometry, in particular Gröbner bases computations using state-of-the-art algorithms and software. Our main contributions are twofold:
- The singularity conditions related to the observation of N>3 lines in the image, extending previous results concerning the singularities for other image features.
- The computation of the equilibria of IBVS from the observation of N = 4 points in the image features. This is to our knowledge first result regarding the computation of the local minima of IBVS.
Defensa : 24/01/2023
miembros del jurado :
Mr. Nicolas Andreff, Professeur, Université de Franche-Comté, FEMTO-ST [Rapporteur]
Mr. Josef Schicho, Professeur, Johannes Kepler University, RISC [Rapporteur]
Mr. Sébastien Briot, Directeur de recherche, CNRS, LS2N.
Mr. Laurent Busé, Directeur de recherche, INRIA Université Côte d’Azur.
Mr. François Chaumette, Directeur de recherche, INRIA Rennes-Bretagne Atlantique, IRISA
Mrs. Isabelle Fantoni, Directrice de recherche, CNRS, LS2N
Mr. Stef Graillat, Professeur, Sorbonne Université, LIP6
Mr. Mohab Safey El Din, Professeur, Sorbonne Université, LIP6
Mr. Philippe Martinet, Directeur de recherche, INRIA Sophia Antipolis
Publicaciones 2022-2023
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2023
- J. Garcia Fontán : “Singularity and stability analysis of vision-based controllers”, tesis, defensa 24/01/2023, dirección de investigación Safey el din, Mohab, co-supervisión : Briot, Sébastien (2023)
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2022
- J. García Fontán, A. Nayak, S. Briot, M. Safey El Din : “Singularity Analysis for the Perspective-Four and Five-Line Problems”, International Journal of Computer Vision, vol. 130, pp. 909-932, (Springer Verlag) (2022)