{"id":"W4378804727","doi":"10.1109/tmech.2023.3276211","title":"Perception-Aware Image-Based Visual Servoing of Aggressive Quadrotor UAVs","year":2023,"lang":"en","type":"article","venue":"IEEE/ASME Transactions on Mechatronics","topic":"Advanced Vision and Imaging","field":"Computer Science","cited_by":28,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Toronto","funders":"Natural Sciences and Engineering Research Council of Canada","keywords":"Visual servoing; Visibility; Underactuation; Computer vision; Artificial intelligence; Computer science; Constraint (computer-aided design); Quaternion; Field of view; Controller (irrigation); Compensation (psychology); Image (mathematics); Robot; Kinematics; Mathematics","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001097913,0.0003200111,0.0002706564,0.000138464,0.0001329908,0.0002275802,0.0003306438,0.0001830073,0.0004485589],"category_scores_gemma":[0.0002750496,0.0001628486,0.0001402994,0.00008531655,0.0002057875,0.0002449329,0.0003708889,0.0002709791,0.0001156046],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001736829,"about_ca_system_score_gemma":0.0002690817,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.002939885,"about_ca_topic_score_gemma":0.002511045,"domain_scores_codex":[0.9999439,0.000005963649,0.000002811365,0.00001636715,0.00002180661,0.000009125075],"domain_scores_gemma":[0.9999018,0.00001865956,0.0000267395,0.00001491115,0.00002484586,0.00001315863],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"bench_or_experimental","study_design_scores_codex":[0.0002500253,0.00004649322,0.001364104,0.0001101114,0.00003055819,0.0002779342,0.0002600692,0.5042126,0.2953267,0.002912653,0.001094518,0.1941143],"study_design_scores_gemma":[0.00001061385,0.00006729471,0.0007063269,0.000003587489,0.000005490285,0.00003966214,0.00002096812,0.9850218,0.01265128,0.000559455,0.0009068955,0.000006662431],"study_design_candidate":"bench_or_experimental","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1451218,0.0001838731,0.8515732,0.00007313333,0.00004291061,0.00002887582,0.00002681981,0.0007348748,0.0022145],"genre_scores_gemma":[0.9553173,0.00006419772,0.04340982,0.00002671755,0.000009397903,0.00001703046,0.00002688792,0.00002568618,0.001102948],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.002939885,"threshold_uncertainty_score":0.005845547,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01378046810562635,"score_gpt":0.3015017019557271,"score_spread":0.2877212338501008,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}