Adaptive Output-Feedback Image-Based Visual Servoing for Quadrotor Unmanned Aerial Vehicles
Why this work is in the frame
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Bibliographic record
Abstract
This brief presents an adaptive output feedback image-based visual servoing (IBVS) law for a quadrotor unmanned aerial vehicle. The control objective is to regulate the relative 3-D position and yaw of the vehicle to a planar horizontal visual target consisting of multiple points. The control is implemented using a minimal number of commonly available low-cost on-board sensors including a strapdown inertial measurement unit and a monocular camera. The IBVS method relies on moment image features which are defined using a virtual camera. Output feedback introduces a filter to the control which removes the common requirement for linear velocity measurement. The method is adaptive and compensates for a constant force disturbance appearing the translational dynamics and parameter uncertainty in thrust constant, desired feature depth, and mass. Exponential stability of the outer loop and combined inner-outer closed-loop error dynamics is proven. Flight tests demonstrate the proposed method's motion control performance and its ability to compensate parametric uncertainty and reject constant force disturbances.
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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) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 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