DVS-Straight
DVS-Straight: Direct Visual Servoing of robot with optimal 3D trajectories

概要

DVS-Straight is an international collaboration project funded by the ITH department of AIST. In this project, CNRS-AIST JRL is partnering with UTBM, CIAD lab (France) and UPJV, MIS lab (France) with the aim of mastering the robot trajectories during image-based visual servoing directly using the dense brightness of captured images as input of the control law (Direct Visual Servoing: DVS). Indeed, DVS is first known for its submillimetric precision and recently for a quite large convergence domain, e.g. with DDVS. However, trajectories are not always satisfactory.

The goals are:

• To develop an international network of labs and researchers to work on the DVS-Straight topic
• To exploit better the control theory for improving the conditioning
• To encapsulate DVS in multi-objective control frameworks for condisering explicit trajectory constraints
• To research the optimal field-of-view maximizing the motion perceptibility

all for better behavior of DVS-based control laws and hence applicability in a much larger variety of scenarios and contexts.

A series of international workshops will be organized to share the research, the results and the open-source software as well as to develop the research community on these topics.

実施期間

2021.10-2025.3

資金提供

AIST ITH