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INFOENG SEMINAR SERIES Colloquium Series
Dynamic Image Based Visual Servo Control: Applications to Aerial Robotic Vehicles.
Assoc. Prof. Robert Mahony (Department of Engineering, Australian National University.
)
DATE: 2005-11-11
TIME: 11:00:00 - 12:00:00
LOCATION: RSISE Seminar Room, ground floor, building 115, cnr. North and Daley Roads, ANU
ABSTRACT:
In this talk I present some recent developments in image based
visual servo control and its extension to fully dynamic systems.
The application of interest in this work is that of stabilization of
an aerial robotic vehicle, capable of quasi-stationary flight, with
respect to an observed target using vision and inertial measurements
only. This problem is a fundamental capability that must be
developed before such vehicle can be developed for commercial
applications. The talk aims to provide a perspective on the wider
issues involved in applying image based visual control to flying
vehicles as well as present a case study demonstrating how it is
possible to overcome these problems.
BIO:
Robert Mahony obtained a science degree majoring in
applied mathematics and geology from the Australian National
University (ANU) in 1989. After working for a year as a
geophysicist processing marine seismic data he returned to study at
ANU and obtained a Ph.D. in systems engineering in 1994. Between
1994 and 1997 he worked as a Research Fellow in the Cooperative
Research Centre for Robust and Adaptive Systems based in the
Research School of Information Sciences and Engineering, ANU,
Australia. From 1997 to 1999 he held a post as a post-doctoral
fellow in the CNRS laboratory for Heuristics Diagnostics and complex
systems (Heudiasyc), Compiegne University of Technology, FRANCE.
Between 1999 and 2001 he held a Logan Fellowship in the Department
of Engineering and Computer Science at Monash University, Melbourne,
Australia. Since July 2001 he lecturered in mechatronics at the
Department of Engineering, ANU, Canberra, Australia. His research
interests are in non-linear control theory with applications in
mechanical systems and motion systems, and mathematical systems
theory and geometric optimisation techniques with applications in
linear algebra and digital signal processing.
MEDIA:
051111_mahony.pdf
051111_mahony_video_redirect.html
