{"id":"https://openalex.org/W4415960938","doi":"https://doi.org/10.1155/int/1464484","title":"Underactuated Dynamic Visual Servoing of Aerial Mobile Robots Using Adaptive Calibration of Camera","display_name":"Underactuated Dynamic Visual Servoing of Aerial Mobile Robots Using Adaptive Calibration of Camera","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4415960938","doi":"https://doi.org/10.1155/int/1464484"},"language":"en","primary_location":{"id":"doi:10.1155/int/1464484","is_oa":true,"landing_page_url":"https://doi.org/10.1155/int/1464484","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1155/int/1464484","source":{"id":"https://openalex.org/S57950554","display_name":"International Journal of Intelligent Systems","issn_l":"0884-8173","issn":["0884-8173","1098-111X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1155/int/1464484","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058713177","display_name":"Yi Lyu","orcid":"https://orcid.org/0000-0001-5150-3482"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]},{"id":"https://openalex.org/I4210127074","display_name":"Zhongshan Hospital","ror":"https://ror.org/032x22645","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210127074"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yi Lyu","raw_affiliation_strings":["School of Computer ,  University of Electronic Science and Technology of China Zhongshan Institute ,  Zhongshan ,  China ,  uestc.edu.cn"],"raw_orcid":"https://orcid.org/0000-0001-5150-3482","affiliations":[{"raw_affiliation_string":"School of Computer ,  University of Electronic Science and Technology of China Zhongshan Institute ,  Zhongshan ,  China ,  uestc.edu.cn","institution_ids":["https://openalex.org/I4210127074","https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067637363","display_name":"Aoqi Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I111950717","display_name":"Macau University of Science and Technology","ror":"https://ror.org/03jqs2n27","country_code":"MO","type":"education","lineage":["https://openalex.org/I111950717","https://openalex.org/I4391767947"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Aoqi Liu","raw_affiliation_strings":["School of Computer Science and Engineering ,  Macau University of Science and Technology ,  Macau ,  China ,  must.edu.mo"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering ,  Macau University of Science and Technology ,  Macau ,  China ,  must.edu.mo","institution_ids":["https://openalex.org/I111950717"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhengfei Wen","orcid":null},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengfei Wen","raw_affiliation_strings":["School of Computer Science and Engineering ,  University of Electronic Science and Technology of China ,  Chengdu ,  China ,  uestc.edu.cn"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering ,  University of Electronic Science and Technology of China ,  Chengdu ,  China ,  uestc.edu.cn","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084216746","display_name":"Guanyu Lai","orcid":"https://orcid.org/0000-0003-2278-550X"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanyu Lai","raw_affiliation_strings":["School of Automation ,  Guangdong University of Technology ,  Guangzhou ,  China ,  gdut.edu.cn"],"raw_orcid":"https://orcid.org/0000-0003-2278-550X","affiliations":[{"raw_affiliation_string":"School of Automation ,  Guangdong University of Technology ,  Guangzhou ,  China ,  gdut.edu.cn","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046659609","display_name":"Weijun Yang","orcid":"https://orcid.org/0000-0002-2585-8033"},"institutions":[{"id":"https://openalex.org/I4210104080","display_name":"Guangzhou Panyu Polytechnic","ror":"https://ror.org/01j9jcf33","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210104080"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weijun Yang","raw_affiliation_strings":["School of Mechanical and Electrical Engineering ,  Guangzhou City Polytechnic ,  Guangzhou ,  China"],"raw_orcid":"https://orcid.org/0000-0002-2585-8033","affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering ,  Guangzhou City Polytechnic ,  Guangzhou ,  China","institution_ids":["https://openalex.org/I4210104080"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082679406","display_name":"Qiangqiang Dong","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiangqiang Dong","raw_affiliation_strings":["School of Automation ,  Guangdong University of Technology ,  Guangzhou ,  China ,  gdut.edu.cn"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation ,  Guangdong University of Technology ,  Guangzhou ,  China ,  gdut.edu.cn","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5058713177"],"corresponding_institution_ids":["https://openalex.org/I150229711","https://openalex.org/I4210127074"],"apc_list":{"value":2500,"currency":"USD","value_usd":2500},"apc_paid":{"value":2500,"currency":"USD","value_usd":2500},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3139115,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2025","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9860000014305115,"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":0.9860000014305115,"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":0.005200000014156103,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.0017999999690800905,"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/visual-servoing","display_name":"Visual servoing","score":0.9060999751091003},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.5202999711036682},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4672999978065491},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4165000021457672},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4147999882698059},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.41110000014305115},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.3921000063419342},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3840999901294708},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3815999925136566}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9060999751091003},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7044000029563904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.66839998960495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5978999733924866},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.5202999711036682},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4672999978065491},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4165000021457672},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4147999882698059},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.41110000014305115},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.3921000063419342},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3840999901294708},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3815999925136566},{"id":"https://openalex.org/C27402916","wikidata":"https://www.wikidata.org/wiki/Q31009","display_name":"Image stabilization","level":3,"score":0.36739999055862427},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3458000123500824},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.3407999873161316},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.33730000257492065},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.32269999384880066},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C110898773","wikidata":"https://www.wikidata.org/wiki/Q2933935","display_name":"Camera resectioning","level":2,"score":0.31049999594688416},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.29670000076293945},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.2897000014781952},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.2890999913215637},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2849999964237213},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26910001039505005},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.26570001244544983},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C2776429412","wikidata":"https://www.wikidata.org/wiki/Q4688011","display_name":"Aerial image","level":3,"score":0.25839999318122864}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1155/int/1464484","is_oa":true,"landing_page_url":"https://doi.org/10.1155/int/1464484","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1155/int/1464484","source":{"id":"https://openalex.org/S57950554","display_name":"International Journal of Intelligent Systems","issn_l":"0884-8173","issn":["0884-8173","1098-111X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1155/int/1464484","is_oa":true,"landing_page_url":"https://doi.org/10.1155/int/1464484","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1155/int/1464484","source":{"id":"https://openalex.org/S57950554","display_name":"International Journal of Intelligent Systems","issn_l":"0884-8173","issn":["0884-8173","1098-111X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4348891423","display_name":null,"funder_award_id":"202235364","funder_id":"https://openalex.org/F4320326667","funder_display_name":"Bureau of Education of Guangzhou Municipality"}],"funders":[{"id":"https://openalex.org/F4320326667","display_name":"Bureau of Education of Guangzhou Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4415960938.pdf"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1968762117","https://openalex.org/W2001225794","https://openalex.org/W2014461580","https://openalex.org/W2030276001","https://openalex.org/W2033322198","https://openalex.org/W2039683272","https://openalex.org/W2084706209","https://openalex.org/W2093597151","https://openalex.org/W2098878508","https://openalex.org/W2112166125","https://openalex.org/W2139121338","https://openalex.org/W2139799964","https://openalex.org/W2164223642","https://openalex.org/W2520406874","https://openalex.org/W2564265107","https://openalex.org/W2575536412","https://openalex.org/W2789281715","https://openalex.org/W2791608618","https://openalex.org/W2914063261","https://openalex.org/W3001049514","https://openalex.org/W3111598693","https://openalex.org/W3179713855","https://openalex.org/W3195152959","https://openalex.org/W4205432115","https://openalex.org/W4309078364","https://openalex.org/W4312271987","https://openalex.org/W4313153453","https://openalex.org/W4313408420","https://openalex.org/W4319865632","https://openalex.org/W4378804727","https://openalex.org/W4381854559","https://openalex.org/W4389751884","https://openalex.org/W4389978691","https://openalex.org/W4391289016","https://openalex.org/W4391992646","https://openalex.org/W4392405411"],"related_works":[],"abstract_inverted_index":{"The":[0],"dynamic":[1],"visual":[2,41,97,132,231],"servoing":[3,42],"problem":[4],"studied":[5],"in":[6,13,73,157],"this":[7,64,121],"paper":[8],"differs":[9],"from":[10,87],"existing":[11],"approaches":[12],"two":[14,222],"key":[15],"aspects:":[16],"the":[17,20,27,35,51,54,58,75,82,88,95,130,153,169,173,186,205,226,229],"dynamics":[18,116,133],"of":[19,47,78,172,218,228],"aerial":[21],"mobile":[22],"robot":[23],"are":[24],"underactuated,":[25],"and":[26,57,108,138,160,179],"onboard":[28],"camera":[29,110,155],"is":[30,44,71,85,127,149,165,183],"adaptively":[31],"calibrated.":[32],"To":[33,119],"address":[34],"first":[36],"challenge,":[37],"a":[38,123,215],"novel":[39,146],"cascade":[40],"framework":[43],"developed,":[45],"consisting":[46],"three":[48],"control":[49,143],"loops:":[50],"image":[52,83,103,115,187,206],"loop,":[53,56],"attitude":[55],"angular":[59],"velocity":[60],"loop.":[61],"Based":[62],"on":[63],"framework,":[65],"an":[66,141,161],"extended":[67],"eye\u2010in\u2010hand":[68],"vision":[69],"system":[70],"constructed,":[72],"which":[74],"perspective":[76],"projection":[77],"feature":[79],"points":[80],"onto":[81],"plane":[84],"decoupled":[86],"rigid":[89,174],"body\u2019s":[90],"attitude.":[91],"This":[92],"design":[93],"allows":[94],"proposed":[96,230],"controller":[98],"to":[99,134,151,167,192,210],"effectively":[100],"compensate":[101],"for":[102,114],"dynamics.":[104],"Furthermore,":[105],"unknown":[106,131,154],"intrinsic":[107],"extrinsic":[109],"parameters":[111,156],"make":[112],"compensation":[113],"more":[117,220],"difficult.":[118],"overcome":[120],"issue,":[122],"depth\u2010independent":[124],"composite":[125],"matrix":[126],"introduced,":[128],"enabling":[129],"be":[135],"linearly":[136],"parameterized":[137],"integrated":[139],"with":[140,214],"adaptive":[142],"technique.":[144],"A":[145],"online":[147],"algorithm":[148],"developed":[150],"estimate":[152,168],"real":[158],"time,":[159,213],"additional":[162],"adaptation":[163],"mechanism":[164],"incorporated":[166],"rotational":[170],"inertia":[171],"body.":[175],"Using":[176],"Lyapunov":[177],"theory":[178],"Barbalat\u2019s":[180],"lemma,":[181],"it":[182],"proven":[184],"that":[185,204],"tracking":[188,207],"error":[189,208],"asymptotically":[190],"converges":[191,209],"zero":[193,211],"while":[194],"all":[195],"physical":[196],"variables":[197],"remain":[198],"locally":[199],"bounded.":[200],"Experimental":[201],"results":[202],"confirm":[203],"over":[212],"maximum":[216],"deviation":[217],"no":[219],"than":[221],"pixels,":[223],"thereby":[224],"validating":[225],"effectiveness":[227],"controller.":[232]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-06T00:00:00"}
