{"id":"https://openalex.org/W7130280267","doi":null,"title":"Hybrid PBVS\u2013IBVS Modellprediktiv Visuell Servostyrning : F\u00f6r Autonom Dockning av en Fritt Flygande Robot","display_name":"Hybrid PBVS\u2013IBVS Modellprediktiv Visuell Servostyrning : F\u00f6r Autonom Dockning av en Fritt Flygande Robot","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7130280267"},"language":"en","primary_location":{"id":"pmh:oai:DiVA.org:kth-376614","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-376614","pdf_url":null,"source":{"id":"https://openalex.org/S4306400653","display_name":"Diva portal (Dalarna University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/bachelorThesis"},"volume":null,"type":"dissertation","indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-376614","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5126226338","display_name":"Tafarrel Firhannoza Pramono","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Firhannoza Pramono, Tafarrel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5126226338"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.7006999850273132,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.7006999850273132,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.14880000054836273,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.0723000019788742,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autonomous-rendezvous-and-docking","display_name":"autonomous rendezvous and docking","score":0.9390000104904175},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"visual servoing","score":0.878000020980835},{"id":"https://openalex.org/keywords/image-based-visual-servoing","display_name":"image-based visual servoing","score":0.8859999775886536},{"id":"https://openalex.org/keywords/position-based-visual-servoing","display_name":"position-based visual servoing","score":1.0},{"id":"https://openalex.org/keywords/hybrid-visual-servoing","display_name":"hybrid visual servoing","score":0.7950000166893005},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"model predictive control","score":0.9879999756813049},{"id":"https://openalex.org/keywords/rgb-d-camera","display_name":"RGB-D camera","score":0.9549999833106995},{"id":"https://openalex.org/keywords/cad-models","display_name":"CAD models","score":0.40799999237060547},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"iterative closest point","score":0.7300000190734863},{"id":"https://openalex.org/keywords/trajectory-tracking","display_name":"trajectory tracking","score":0.7099999785423279},{"id":"https://openalex.org/keywords/local-minima","display_name":"local minima","score":0.6029999852180481},{"id":"https://openalex.org/keywords/space-robotics","display_name":"space robotics","score":0.7210000157356262}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7904000282287598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6922000050544739},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5972999930381775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.590399980545044},{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.5900999903678894},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5857999920845032},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.5080000162124634},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48750001192092896},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.4271000027656555},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.3968999981880188},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.38519999384880066},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3422999978065491},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.3280999958515167},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.3278000056743622},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.31520000100135803},{"id":"https://openalex.org/C2780527621","wikidata":"https://www.wikidata.org/wiki/Q7936593","display_name":"Visual control","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.2912999987602234},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.27790001034736633},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.27410000562667847},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2615000009536743}],"mesh":[],"locations_count":1,"locations":[{"id":"pmh:oai:DiVA.org:kth-376614","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-376614","pdf_url":null,"source":{"id":"https://openalex.org/S4306400653","display_name":"Diva portal (Dalarna University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/bachelorThesis"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-376614","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-376614","pdf_url":null,"source":{"id":"https://openalex.org/S4306400653","display_name":"Diva portal (Dalarna University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/bachelorThesis"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4323048580","https://openalex.org/W7167856327","https://openalex.org/W7154472284","https://openalex.org/W4291227749","https://openalex.org/W4416938113","https://openalex.org/W4390188045","https://openalex.org/W4367358976","https://openalex.org/W4380625470","https://openalex.org/W2389284637","https://openalex.org/W7215435838"],"abstract_inverted_index":{"Interest":[0],"in":[1,31,147,184],"the":[2,14,109,133,137,148,156,163,169,173,182,201,232],"development":[3],"of":[4,102,108,139],"autonomous":[5],"rendezvous":[6],"and":[7,25,49,70,95,117,160,197,214,229,237],"docking":[8,84,104,208,221],"(ARD)":[9],"has":[10],"been":[11],"growing":[12],"since":[13],"1960s,":[15],"as":[16],"it":[17],"is":[18,60,111,151,166],"an":[19,92],"important":[20],"procedure":[21],"for":[22,86],"refueling":[23],"spacecraft":[24],"transferring":[26],"resources.":[27],"Achieving":[28],"centimeter-scale":[29],"accuracy":[30],"ARD":[32],"commonly":[33],"relies":[34],"on":[35,191],"Visual":[36,46,51],"Servoing":[37,47,52],"(VS).":[38],"Two":[39],"common":[40],"classical":[41],"VS":[42,78],"methods":[43],"are":[44],"Image-Based":[45],"(IBVS)":[48],"Position-Based":[50],"(PBVS)":[53],"utilize":[54],"a":[55,76,87,96,103,128,192],"velocity-based":[56],"control":[57,155],"law":[58],"that":[59,89,131,231],"straightforward,":[61],"yet":[62],"they":[63],"suffer":[64],"from":[65],"depth":[66],"or":[67],"visibility":[68,138,236],"sensitivity":[69],"local":[71],"minima.":[72],"This":[73,125],"thesis":[74],"presents":[75],"hybrid":[77],"with":[79,119,189],"Model":[80],"Predictive":[81],"Control":[82],"(MPC)":[83],"pipeline":[85],"free-flyer":[88,134,196],"requires":[90],"only":[91,226],"RGB-D":[93],"camera":[94],"Computer":[97],"Aided":[98],"Design":[99],"(CAD)":[100],"model":[101],"station.":[105],"The":[106,217],"pose":[107,212],"station":[110],"initialized":[112],"by":[113],"Globally":[114],"optimal-ICP":[115],"(GO-ICP)":[116],"refined":[118],"Generalized":[120],"Iterative":[121],"Closest":[122],"Point":[123],"(GICP).":[124],"estimation":[126],"seeds":[127],"trajectory-tracking":[129],"MPC":[130,149,170],"orients":[132],"to":[135,154,168,171],"maximize":[136],"geometric":[140,227],"point":[141],"features.":[142],"A":[143],"dynamic":[144],"weighting":[145],"strategy":[146],"cost":[150],"then":[152],"used":[153],"soft-switching":[157],"between":[158],"PBVS":[159],"IBVS.":[161],"Finally,":[162],"feature":[164],"dynamics":[165],"described":[167],"minimize":[172],"image":[174],"errors":[175],"while":[176],"respecting":[177],"system":[178],"constraints.":[179],"We":[180],"evaluated":[181],"method":[183],"Robot":[185],"Operating":[186],"System":[187],"(ROS)":[188],"Gazebo":[190],"planar":[193],"3-degree-of-freedom":[194],"(DOF)":[195],"validated":[198],"further":[199],"at":[200],"KTH":[202],"Space":[203],"Robotics":[204],"Laboratory":[205],"(SRL),":[206],"reporting":[207],"success":[209],"rate,":[210],"steady-state":[211],"error,":[213],"computation":[215],"time.":[216],"results":[218],"indicated":[219],"reliable":[220],"without":[222],"AR":[223],"tags,":[224],"using":[225],"fiducials,":[228],"demonstrated":[230],"PBVS-IBVS":[233],"transition":[234],"improves":[235],"mitigates":[238],"local-minimum":[239],"failures.":[240]},"counts_by_year":[],"updated_date":"2026-09-11T09:22:31.653822","created_date":"2026-02-18T00:00:00"}