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On the Stability of Undesirable Equilibria in the Quadratic Program Framework for Safety-Critical Control
Furthermore, we propose an extension to the QP-based controller that dynamically modifies the CLF geometry in order to satisfy the compatibility conditions, guaranteeing safety and quasi-global convergence of the system state to the CLF minimum.
Active Depth Estimation: Stability Analysis and its Applications
Recovering the 3D structure of the surrounding environment is an essential task in any vision-controlled Structure-from-Motion (SfM) scheme.
A Framework for Depth Estimation and Relative Localization of Ground Robots using Computer Vision
The basic idea consists in estimating the depth of the points by explicitly considering the dynamics of the camera mounted on a ground robot, and feeding the estimates of 3D points observed by both cameras in a filter that computes the relative pose between the robots.
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