Input Saturated Visual Servoing for Unmanned Aerial Vehicles
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Bibliographic record
Abstract
This paper presents an input saturated visual servoing controller for a quadrotor unmanned aerial vehicle (UAV). The controller regulates relative pose between the vehicle and a planar horizontal visual target. In order to simplify the control design, the method uses a virtual camera to define a set of image moment features. The image feature kinematics is independent of roll and pitch motion. Since the image feature error is stabilized in the virtual camera, the visual target potentially leaves the real camera's field of view (FoV). To keep the visual target in the camera FoV, an input saturated law is proposed to sufficiently bound the roll and pitch of the vehicle. Furthermore, an adaptive input saturated control law is proposed to ensure positive thrust. Experimental and simulation results are provided to demonstrate controller performance.
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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 | 0.000 | 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