{"id":"https://openalex.org/W1966078831","doi":"https://doi.org/10.1109/acc.2012.6315115","title":"Nonlinear control of underactuated vehicles with uncertain position measurements and application to visual servoing","display_name":"Nonlinear control of underactuated vehicles with uncertain position measurements and application to visual servoing","publication_year":2012,"publication_date":"2012-06-01","ids":{"openalex":"https://openalex.org/W1966078831","doi":"https://doi.org/10.1109/acc.2012.6315115","mag":"1966078831"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2012.6315115","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2012.6315115","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073222102","display_name":"Henry de Plinval","orcid":null},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]},{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"H. de Plinval","raw_affiliation_strings":["Onera-The French AeroSpace Laboratory, Toulouse, France","ONERA - The French Aerospace Lab, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"Onera-The French AeroSpace Laboratory, Toulouse, France","institution_ids":["https://openalex.org/I193033237"]},{"raw_affiliation_string":"ONERA - The French Aerospace Lab, Toulouse, France","institution_ids":["https://openalex.org/I2801658355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020385150","display_name":"Pascal Morin","orcid":"https://orcid.org/0000-0003-2766-1821"},"institutions":[{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Morin","raw_affiliation_strings":["ISIR, UPMC, Paris, France","ISIR/UPMC, Paris, France"],"affiliations":[{"raw_affiliation_string":"ISIR, UPMC, Paris, France","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I39804081"]},{"raw_affiliation_string":"ISIR/UPMC, Paris, France","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I39804081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112090856","display_name":"Philippe Mouyon","orcid":null},"institutions":[{"id":"https://openalex.org/I2801658355","display_name":"Office National d'\u00c9tudes et de Recherches A\u00e9rospatiales","ror":"https://ror.org/005y2ap84","country_code":"FR","type":"facility","lineage":["https://openalex.org/I2801658355"]},{"id":"https://openalex.org/I193033237","display_name":"Institut Superieur de l'Aeronautique et de l'Espace (ISAE-SUPAERO)","ror":"https://ror.org/04gyj6s21","country_code":"FR","type":"education","lineage":["https://openalex.org/I193033237","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Mouyon","raw_affiliation_strings":["Onera-The French AeroSpace Laboratory, Toulouse, France","ONERA - The French Aerospace Lab, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"Onera-The French AeroSpace Laboratory, Toulouse, France","institution_ids":["https://openalex.org/I193033237"]},{"raw_affiliation_string":"ONERA - The French Aerospace Lab, Toulouse, France","institution_ids":["https://openalex.org/I2801658355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073222102"],"corresponding_institution_ids":["https://openalex.org/I193033237","https://openalex.org/I2801658355"],"apc_list":null,"apc_paid":null,"fwci":0.8236,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.73049717,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"54","issue":null,"first_page":"3253","last_page":"3259"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T13579","display_name":"Image and Video Stabilization","score":0.9962000250816345,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9822999835014343,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.9052650928497314},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8835249543190002},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6913893222808838},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6348940134048462},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6240830421447754},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6223115921020508},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6061144471168518},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.46599116921424866},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.4559437036514282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41777896881103516},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.4149368405342102},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4148208200931549},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38546866178512573},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3811482787132263},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22459644079208374},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.223241925239563},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1172376275062561},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09184738993644714}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9052650928497314},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8835249543190002},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6913893222808838},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6348940134048462},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6240830421447754},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6223115921020508},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6061144471168518},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.46599116921424866},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.4559437036514282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41777896881103516},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.4149368405342102},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4148208200931549},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38546866178512573},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3811482787132263},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22459644079208374},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.223241925239563},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1172376275062561},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09184738993644714},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C75280867","wikidata":"https://www.wikidata.org/wiki/Q877775","display_name":"Projective space","level":3,"score":0.0},{"id":"https://openalex.org/C177846678","wikidata":"https://www.wikidata.org/wiki/Q1501864","display_name":"Projective test","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2012.6315115","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2012.6315115","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1598822447","https://openalex.org/W1984190176","https://openalex.org/W1994732751","https://openalex.org/W2019624342","https://openalex.org/W2034043440","https://openalex.org/W2035475156","https://openalex.org/W2035981208","https://openalex.org/W2079121704","https://openalex.org/W2092826100","https://openalex.org/W2125148654","https://openalex.org/W2125902469","https://openalex.org/W2129086727","https://openalex.org/W2133017647","https://openalex.org/W2139299166","https://openalex.org/W2468232490","https://openalex.org/W2726691644","https://openalex.org/W4206820429"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W3024380338","https://openalex.org/W2069235576","https://openalex.org/W4378965915"],"abstract_inverted_index":{"The":[0],"paper":[1],"concerns":[2],"the":[3,10,31,39,75,80,83],"stabilization":[4,25,63],"of":[5,12,18,42,82],"thrust-propelled":[6],"underactuated":[7],"vehicles":[8],"in":[9],"context":[11],"sensor-based":[13],"control.":[14],"First,":[15],"a":[16,43,51],"class":[17],"nonlinear":[19],"feedback":[20],"laws":[21],"that":[22,61],"ensure":[23],"semi-global":[24,62],"despite":[26],"possibly":[27],"large":[28],"uncertainties":[29],"on":[30,68,74],"position":[32],"measurements":[33],"is":[34,54,59],"proposed.":[35],"Then,":[36],"application":[37],"to":[38],"visual":[40],"servoing":[41],"Vertical":[44],"Take-Off":[45],"and":[46],"Landing":[47],"(VTOL)":[48],"drone":[49],"with":[50,71],"video":[52],"camera":[53],"considered.":[55],"In":[56],"particular,":[57],"it":[58],"shown":[60],"can":[64],"be":[65],"achieved,":[66],"based":[67],"homography":[69],"measurements,":[70],"little":[72],"information":[73],"environment.":[76],"Simulation":[77],"results":[78],"show":[79],"effectiveness":[81],"approach.":[84]},"counts_by_year":[{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}