research-article

On the similarities between control based and behavior based visual servoing

Authors:

Benjamin Fonooni,

Thomas HellströmAuthors Info & Claims

SAC '15: Proceedings of the 30th Annual ACM Symposium on Applied Computing

Pages 320 - 326

https://doi.org/10.1145/2695664.2695949

Published: 13 April 2015 Publication History

Abstract

Robotics is tightly connected to both artificial intelligence (AI) and control theory. Both AI and control based robotics are active and successful research areas, but research is often conducted by well separated communities. In this paper, we compare the two approaches in a case study for the design of a robot that should move its arm towards an object with the help of camera data. The control based approach is a model-free version of Image Based Visual Servoing (IBVS), which is based on mathematical modeling of the sensing and motion task. The AI approach, here denoted Behavior-Based Visual Servoing (BBVS), contains elements that are biologically plausible and inspired by schema-theory. We show how the two approaches lead to very similar solutions, even identical given a few simplifying assumptions. This similarity is shown both analytically and numerically. However, in a simple picking task with a 3 DoF robot arm, BBVS shows significantly higher performance than the IBVS approach, partly because it contains more manually tuned parameters. While the results obviously do not apply to all tasks and solutions, it illustrates both strengths and weaknesses with both approaches, and how they are tightly connected and share many similarities despite very different starting points and methodologies.

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Cited By

Fonooni BHellström T(2015)Applying a priming mechanism for intention recognition in shared control2015 IEEE International Multi-Disciplinary Conference on Cognitive Methods in Situation Awareness and Decision10.1109/COGSIMA.2015.7107972(35-41)Online publication date: Mar-2015
https://doi.org/10.1109/COGSIMA.2015.7107972

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On the similarities between control based and behavior based visual servoing

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Published In

cover image ACM Conferences

SAC '15: Proceedings of the 30th Annual ACM Symposium on Applied Computing

April 2015

2418 pages

ISBN:9781450331968

DOI:10.1145/2695664

Conference Chairs:
Roger L. Wainwright
University of Tulsa
,
Juan Manuel Corchado
University of Salamanca, Spain
,
Program Chairs:
Alessio Bechini
University of Pisa, Italy
,
Jiman Hong
Soongsil University, South Korea

Copyright © 2015 ACM.

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Published: 13 April 2015

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April 13 - 17, 2015

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Cited By

Fonooni BHellström T(2015)Applying a priming mechanism for intention recognition in shared control2015 IEEE International Multi-Disciplinary Conference on Cognitive Methods in Situation Awareness and Decision10.1109/COGSIMA.2015.7107972(35-41)Online publication date: Mar-2015
https://doi.org/10.1109/COGSIMA.2015.7107972

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