Accession Number:

ADA439278

Title:

On Viewpoint Control

Descriptive Note:

Corporate Author:

MASSACHUSETTS UNIV AMHERST DEPT OF COMPUTER SCIENCE

Report Date:

2005-01-01

Pagination or Media Count:

7.0

Abstract:

In this paper a reactive and concurrent control framework for viewpoint control is developed. The viewpoint control task is decomposed onto three control objectives namely, obstacle avoidance, visibility and precision. A moving object is tracked in two panoramic sensors using color, and a scalar uncertainty metric of the object position estimate is introduced. Individual control objectives are accomplished by planning paths using harmonic functions and the task is accomplished using a new subject-to composition operator. It is shown that the system is stable under this composition. The system is demonstrated for tracking a human subject using a fixed panoramic sensor and another panoramic sensor mounted on a mobile platform.

Subject Categories:

  • Cybernetics
  • Operations Research

Distribution Statement:

APPROVED FOR PUBLIC RELEASE