{"id":"https://openalex.org/W4416748916","doi":"https://doi.org/10.1109/iros60139.2025.11246771","title":"Adaptive Visual Servoing Control Barrier Function of Robotic Manipulators with Uncalibrated Camera","display_name":"Adaptive Visual Servoing Control Barrier Function of Robotic Manipulators with Uncalibrated Camera","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748916","doi":"https://doi.org/10.1109/iros60139.2025.11246771"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246771","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5107748060","display_name":"Jianing Zhao","orcid":"https://orcid.org/0000-0002-1579-0522"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianing Zhao","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101583131","display_name":"Mingyang Feng","orcid":"https://orcid.org/0009-0009-7598-3842"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Feng","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079011491","display_name":"Yuepeng Zhang","orcid":"https://orcid.org/0000-0002-6520-2880"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuepeng Zhang","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102730865","display_name":"Siqi Wang","orcid":"https://orcid.org/0000-0003-3186-7785"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqi Wang","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034304769","display_name":"Xiang Yin","orcid":"https://orcid.org/0000-0003-1944-1570"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Yin","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,China,200240","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5107748060"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3692528,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13067","last_page":"13074"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9480000138282776,"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":0.9480000138282776,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.01769999973475933,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.0038999998942017555,"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":0.9516000151634216},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5365999937057495},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5006999969482422},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5005000233650208},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4666000008583069},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.44200000166893005},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43939998745918274},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4074000120162964},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.40369999408721924}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9516000151634216},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6536999940872192},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6151999831199646},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5365999937057495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5357000231742859},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5006999969482422},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5005000233650208},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4666000008583069},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.44200000166893005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43939998745918274},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4074000120162964},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.40369999408721924},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3952000141143799},{"id":"https://openalex.org/C2780527621","wikidata":"https://www.wikidata.org/wiki/Q7936593","display_name":"Visual control","level":2,"score":0.3560999929904938},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.3483000099658966},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34130001068115234},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3353999853134155},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.31139999628067017},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.30390000343322754},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C2780617739","wikidata":"https://www.wikidata.org/wiki/Q4680738","display_name":"Adaptive estimator","level":3,"score":0.27459999918937683},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.26019999384880066},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2567000091075897},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246771","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2016213375","https://openalex.org/W2132334337","https://openalex.org/W2139121338","https://openalex.org/W2161942079","https://openalex.org/W2525973954","https://openalex.org/W2560504659","https://openalex.org/W2590541183","https://openalex.org/W2924167332","https://openalex.org/W2968945909","https://openalex.org/W2995712318","https://openalex.org/W3084351372","https://openalex.org/W3119862069","https://openalex.org/W3131411499","https://openalex.org/W3155061166","https://openalex.org/W3195647294","https://openalex.org/W3200421757","https://openalex.org/W3204383275","https://openalex.org/W3207637958","https://openalex.org/W4210841724","https://openalex.org/W4221161625","https://openalex.org/W4285193215","https://openalex.org/W4285282961","https://openalex.org/W4352977012","https://openalex.org/W4362654998","https://openalex.org/W4382935714","https://openalex.org/W4383108854","https://openalex.org/W4386232505","https://openalex.org/W4389235528","https://openalex.org/W4389317836","https://openalex.org/W4390224260","https://openalex.org/W4391020565","https://openalex.org/W4391335029","https://openalex.org/W4392347567","https://openalex.org/W4392719125","https://openalex.org/W4392887407","https://openalex.org/W4393906058","https://openalex.org/W4402216327","https://openalex.org/W4402262118","https://openalex.org/W4405785034"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,28,32,36,41,62,66,95,115,137,140,157,161,176],"problem":[4,154],"of":[5,10,35,52,65,139,178],"safe":[6,144],"visual":[7,83,128],"servoing":[8,84,129],"control":[9,19,85,130],"manipulators":[11],"using":[12,70],"an":[13,102,106,111],"uncalibrated":[14,107],"eye-in-hand":[15],"camera":[16,117],"based":[17],"on":[18,94,120,168],"barrier":[20,86],"functions":[21],"(CBFs).":[22],"Traditional":[23],"CBFs":[24],"are":[25,172],"defined":[26],"in":[27],"workspace,":[29],"corresponding":[30],"to":[31,60,174],"global":[33],"coordinates":[34],"base":[37],"frame.":[38],"However,":[39],"when":[40],"camera\u2019s":[42],"position":[43],"or":[44],"orientation":[45],"is":[46,146],"adjusted":[47],"for":[48,89,114],"a":[49,74,81,126,133,151,169],"better":[50],"field":[51],"view,":[53],"it":[54,58],"becomes":[55],"uncalibrated,":[56],"making":[57],"challenging":[59],"obtain":[61],"precise":[63],"positions":[64],"robot":[67],"and":[68,97,160],"obstacles":[69],"onboard":[71],"sensors":[72],"like":[73],"camera.":[75,104],"To":[76],"address":[77],"this,":[78],"we":[79,109,123],"propose":[80],"novel":[82],"function":[87],"(VS-CBF)":[88],"manipulators,":[90],"which":[91],"depends":[92],"only":[93],"image":[96],"depth":[98],"data":[99],"sensed":[100],"by":[101,149],"RGB-D":[103],"Given":[105],"camera,":[108],"develop":[110],"adaptive":[112],"estimator":[113],"unknown":[116],"parameters.":[118],"Based":[119],"this":[121],"estimator,":[122],"also":[124],"design":[125],"kinematic":[127],"law":[131],"as":[132],"nominal":[134,162],"controller,":[135],"ensuring":[136],"convergence":[138],"robotic":[141],"system.":[142],"The":[143],"controller":[145],"then":[147],"obtained":[148],"solving":[150],"quadratic":[152],"programming":[153],"that":[155],"incorporates":[156],"designed":[158],"VS-CBF":[159],"controller.":[163],"Finally,":[164],"experimental":[165],"results":[166],"conducted":[167],"UR3":[170],"manipulator":[171],"presented":[173],"demonstrate":[175],"effectiveness":[177],"our":[179],"approach.":[180]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
