{"id":"https://openalex.org/W4383890012","doi":"https://doi.org/10.1109/tcst.2023.3292311","title":"Modeling and Control of Sampled-Data Image-Based Visual Servoing With Three-Dimensional Features","display_name":"Modeling and Control of Sampled-Data Image-Based Visual Servoing With Three-Dimensional Features","publication_year":2023,"publication_date":"2023-07-11","ids":{"openalex":"https://openalex.org/W4383890012","doi":"https://doi.org/10.1109/tcst.2023.3292311"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3292311","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3292311","pdf_url":"https://ieeexplore.ieee.org/ielx7/87/4389040/10178095.pdf","source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/87/4389040/10178095.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031786838","display_name":"Marco Costanzo","orcid":"https://orcid.org/0000-0001-8364-6728"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Marco Costanzo","raw_affiliation_strings":["Dipartimento di Ingegneria, Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli, Aversa, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria, Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli, Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023725622","display_name":"Giuseppe De Maria","orcid":"https://orcid.org/0000-0001-6475-8572"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe De Maria","raw_affiliation_strings":["Dipartimento di Ingegneria, Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli, Aversa, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria, Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli, Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041446451","display_name":"Ciro Natale","orcid":"https://orcid.org/0000-0001-6550-0573"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ciro Natale","raw_affiliation_strings":["Dipartimento di Ingegneria, Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli, Aversa, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria, Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli, Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035312212","display_name":"Antonio Russo","orcid":"https://orcid.org/0000-0003-0480-042X"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Russo","raw_affiliation_strings":["Dipartimento di Ingegneria, Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli, Aversa, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria, Universit&#x00E0; degli Studi della Campania Luigi Vanvitelli, Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031786838"],"corresponding_institution_ids":["https://openalex.org/I197809005"],"apc_list":null,"apc_paid":null,"fwci":1.6851,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.86359713,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"32","issue":"1","first_page":"31","last_page":"46"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9998999834060669,"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/T11105","display_name":"Advanced Image Processing Techniques","score":0.9945999979972839,"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/T11569","display_name":"Optical Coherence Tomography Applications","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7666184902191162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.622944176197052},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5780774354934692},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5604944229125977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5267407298088074},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4587464928627014},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4553067088127136},{"id":"https://openalex.org/keywords/image-stabilization","display_name":"Image stabilization","score":0.42020896077156067},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.39192333817481995},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3314267098903656}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7666184902191162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.622944176197052},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5780774354934692},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5604944229125977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5267407298088074},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4587464928627014},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4553067088127136},{"id":"https://openalex.org/C27402916","wikidata":"https://www.wikidata.org/wiki/Q31009","display_name":"Image stabilization","level":3,"score":0.42020896077156067},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.39192333817481995},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3314267098903656},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2023.3292311","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3292311","pdf_url":"https://ieeexplore.ieee.org/ielx7/87/4389040/10178095.pdf","source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:aisberg.unibg.it:10446/299788","is_oa":true,"landing_page_url":"https://hdl.handle.net/10446/299788","pdf_url":null,"source":{"id":"https://openalex.org/S4377196347","display_name":"Aisberg (University of Bergamo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11039511","host_organization_name":"University of Bergamo","host_organization_lineage":["https://openalex.org/I11039511"],"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/article"}],"best_oa_location":{"id":"doi:10.1109/tcst.2023.3292311","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3292311","pdf_url":"https://ieeexplore.ieee.org/ielx7/87/4389040/10178095.pdf","source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4383890012.pdf","grobid_xml":"https://content.openalex.org/works/W4383890012.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W198123027","https://openalex.org/W391578156","https://openalex.org/W1514444483","https://openalex.org/W1610841860","https://openalex.org/W1630678085","https://openalex.org/W1975922055","https://openalex.org/W2026162068","https://openalex.org/W2045938917","https://openalex.org/W2051826626","https://openalex.org/W2075238618","https://openalex.org/W2082991751","https://openalex.org/W2105085370","https://openalex.org/W2105582660","https://openalex.org/W2111691855","https://openalex.org/W2114347750","https://openalex.org/W2152360896","https://openalex.org/W2157162351","https://openalex.org/W2167501464","https://openalex.org/W2202678121","https://openalex.org/W2280057228","https://openalex.org/W2485992890","https://openalex.org/W2788822937","https://openalex.org/W2915117230","https://openalex.org/W2980592042","https://openalex.org/W3004945106","https://openalex.org/W3091689308","https://openalex.org/W3147149346","https://openalex.org/W3159308287","https://openalex.org/W3159489391","https://openalex.org/W3174035324","https://openalex.org/W4200411144","https://openalex.org/W4205222752","https://openalex.org/W4293584584","https://openalex.org/W4304586793","https://openalex.org/W6605495176","https://openalex.org/W6750227808","https://openalex.org/W6943158677"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W2386520554","https://openalex.org/W1520171478","https://openalex.org/W4317830657","https://openalex.org/W3024380338","https://openalex.org/W2127866683","https://openalex.org/W2065095941","https://openalex.org/W3189572500"],"abstract_inverted_index":{"Image-based":[0],"visual":[1,17,107,133],"servoing":[2],"(IBVS)":[3],"with":[4],"3-D":[5,12,32,49],"features":[6],"refers":[7],"to":[8,30,39,65,78,89,154,194,218],"the":[9,16,36,41,59,66,72,80,85,90,98,106,117,127,132,155,164,172,182,192,195,219,222],"use":[10,31],"of":[11,21,35,58,100,105,116,131,184,191,221],"feature":[13,42,60],"vectors":[14],"in":[15,63,204],"control.":[18],"The":[19,76,113,199],"availability":[20],"low-cost":[22],"and":[23,95,187,213],"lightweight":[24],"RGB-D":[25],"cameras":[26],"makes":[27],"it":[28,180],"natural":[29],"point":[33,130],"coordinates":[34],"acquired":[37],"image":[38],"construct":[40],"vector.":[43],"In":[44],"this":[45],"article,":[46],"by":[47,152,210],"using":[48],"features,":[50],"we":[51],"propose,":[52],"first,":[53],"a":[54,101,145,188],"novel":[55],"sampled-data":[56,81],"model":[57,82],"dynamics,":[61],"which,":[62],"contrast":[64],"usual":[67],"forward":[68],"Euler":[69],"approximation,":[70],"retains":[71],"rigid":[73],"motion":[74],"constraint.":[75],"need":[77],"introduce":[79],"arises":[83],"from":[84],"fact":[86],"that,":[87],"due":[88],"limited":[91],"camera":[92,165,193],"frame":[93],"rate":[94],"actuation":[96],"delays,":[97],"effects":[99],"finite":[102],"sampling":[103,178],"time":[104],"control":[108,120,134,148],"system":[109,121,135],"cannot":[110],"be":[111],"neglected.":[112],"stability":[114,170],"analysis":[115],"resulting":[118],"discrete-time":[119],"is":[122,136,150],"carried":[123,202],"out,":[124],"showing":[125],"that":[126],"desired":[128],"equilibrium":[129],"<italic":[137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">almost":[139],"globally":[140],"asymptotically":[141],"stable</i>":[142],".":[143],"Finally,":[144],"new":[146],"IBVS":[147],"algorithm":[149],"designed":[151],"resorting":[153],"Lyapunov":[156],"direct":[157],"method.":[158],"It":[159],"explicitly":[160],"takes":[161],"into":[162],"account":[163],"velocity":[166],"limits":[167],"while":[168],"ensuring":[169],"at":[171],"same":[173],"time.":[174],"Furthermore,":[175],"despite":[176],"large":[177],"times,":[179],"guarantees":[181],"absence":[183],"hidden":[185],"oscillations":[186],"smooth":[189],"approach":[190],"prescribed":[196],"target":[197],"configuration.":[198],"experiments":[200],"are":[201],"out":[203],"an":[205],"emulated":[206],"in-store":[207],"logistic":[208],"scenario":[209],"performing":[211],"pick&place":[212],"object":[214],"handover":[215],"tasks,":[216],"testifying":[217],"effectiveness":[220],"approach.":[223]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}