Nonlinear visual control of unmanned aerial vehicles in GPS-denied environments. Mebarki, R.; Lippiello, V.; and Siciliano, B. IEEE Transactions on Robotics, 31(4):1004-1017, 2015.
doi  bibtex   
@ARTICLE{Mebarki2015_TRO,
author={Mebarki, Rafik and Lippiello, Vincenzo and Siciliano, Bruno},
journal={IEEE Transactions on Robotics},
title={Nonlinear visual control of unmanned aerial vehicles in GPS-denied environments},
year={2015},
volume={31},
number={4},
pages={1004-1017},
keywords={Lyapunov methods;autonomous aerial vehicles;closed loop systems;control nonlinearities;helicopters;nonlinear control systems;observers;robust control;velocity control;GPS-denied environments;Lyapunov analysis;closed-loop system;constant numerical complexity;integral backstepping approach;low-cost sensing suite;nonlinear controller;nonlinear observer;nonlinear visual control;onboard sensing;quadrotor;real-hardware experiments;robust control system;small-dimension matrices;spherical visual features;translational velocity;unmanned aerial vehicles stabilization;Cameras;Observers;Robot sensing systems;Vehicles;Visualization;Image-based visual servoing;nonlinear controller;nonlinear observer;unmanned aerial vehicle (UAV);velocity estimation},
doi={10.1109/TRO.2015.2451371},
ISSN={1552-3098},
month=Aug,}
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