@article {1725,
	title = {A Complete Observability Analysis  of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities},
	journal = {International Journal of Advanced Robotic Systems},
	volume = {10},
	year = {2013},
	abstract = {<p>This paper presents an analysis of planar bearing localization and mapping for visual servoing with known camera velocities. In particular, we investigate what is the subset of camera locations and environmental features that can be retrieved from dynamic observations obtained by a planar bearing sensor (nearly e.g., a pinhole camera). Results assume that the camera{\textquoteright}s linear and angular velocities are available, which is equivalent to consider a unicycle vehicle carrying an onboard camera. Results hold if other system inputs are considered, e.g., an omnidirectional vehicle. The theoretical results may guide the design of nonlinear observers to estimate the variables of interest in real time to be applied to visual servoing schemes. An example of such an observer is discussed and simulated.</p>
},
	keywords = {Robotics},
	doi = {10.5772/54603},
	url = {http://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/a-complete-observability-analysis-of-the-planar-bearing-localization-and-mapping-for-visual-servoing},
	author = {F. A. W. Belo and P Salaris and D. Fontanelli and A. Bicchi}
}
@conference {FontanelliPP09,
	title = {Convergence of Distributed WSN Algorithms: The Wake-Up Scattering Problem},
	booktitle = {Proc. of Hybrid Systems: Computation and Control},
	year = {2009},
	month = {April 13{\textendash}15},
	pages = {180{\textendash}193},
	publisher = {Springer-Verlag Berlin Heidelberg},
	organization = {Springer-Verlag Berlin Heidelberg},
	address = {San Francisco},
	keywords = {Robotics},
	author = {D. Fontanelli and L. Palopoli and R. Passerone},
	editor = {R. Majumdar and P. Tabuada}
}
@conference {DFMSB03,
	title = {Cooperative Simultaneous Localization and Map Building for Servoing},
	booktitle = {Proceedings of Multiagent Robotic Systems Trends and Industrial Application - Robocup 2003 Conference},
	year = {2003},
	month = {July},
	address = {Padova},
	keywords = {Embedded Control, Robotics},
	author = {A. Danesi and D. Fontanelli and P. Murrieri and V. G. Scordio and A. Bicchi}
}
@conference {MFBENEA02,
	title = {Controllo Ibrido di Veicoli su Ruote con Retroazione Visiva},
	booktitle = {Proc. 1st. Natl. Conf. and Exhibit on Autonomous Intelligent Systems and Advanced Robotics},
	year = {2002},
	month = {October},
	pages = {197-199},
	address = {ENEA, Frascati},
	keywords = {Embedded Control, Robotics},
	author = {P. Murrieri and D. Fontanelli and A. Bicchi}
}
