Nonlinear dynamic image-based visual servoing of a quadrotor
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Bibliographic record
Abstract
This paper proposes a dynamic image-based visual servoing (IBVS) control law for a quadrotor unmanned aerial vehicle (UAV) equipped with a single fixed on-board camera facing downward. The motion control problem is to regulate the relative lateral position of the vehicle to a stationary target located on the ground. The control law is termed dynamic as it is based on the dynamics and kinematics of the vehicle. The proposed design uses a nonlinear input-dependent change of state coordinates and its error dynamics are proven to be locally exponentially stable with an estimate provided for the region of attraction. Experimental and simulation results demonstrate the method's ease of on-board implementation, performance, and robustness. The simulation and experimental results include a comparison with an established dynamic IBVS method. This comparison shows the proposed method can provide similar performance with the benefit of reduced complexity.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it