{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/visual-servoing-of-unmanned-surface-vehicle","title":"Visual Servoing of Unmanned Surface Vehicle from Small Tethered Unmanned Aerial Vehicle","arxiv_id":"1710.02932","date":"2017-10-09","proceeding":null,"authors":["Haresh Karnan","Aritra Biswas","Pranav Vaidik Dhulipala","Jan Dufek","Robin Murphy"],"abstract":"This paper presents an algorithm and the implementation of a motor schema to\naid the visual localization subsystem of the ongoing EMILY project at Texas A\nand M University. The EMILY project aims to team an Unmanned Surface Vehicle\n(USV) with an Unmanned Aerial Vehicle (UAV) to augment the search and rescue of\nmarine casualties during an emergency response phase. The USV is designed to\nserve as a flotation device once it reaches the victims. A live video feed from\nthe UAV is provided to the casuality responders giving them a visual estimate\nof the USVs orientation and position to help with its navigation. One of the\nchallenges involved with casualty response using a USV UAV team is to\nsimultaneously control the USV and track it. In this paper, we present an\nimplemented solution to automate the UAV camera movements to keep the USV in\nview at all times. The motor schema proposed, uses the USVs coordinates from\nthe visual localization subsystem to control the UAVs camera movements and\ntrack the USV with minimal camera movements such that the USV is always in the\ncameras field of view.","url_abs":"http://arxiv.org/abs/1710.02932v1","url_pdf":"http://arxiv.org/pdf/1710.02932v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"visual-servoing-of-unmanned-surface-vehicle","repo_url":"https://github.com/jan-dufek/emily-tracker","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"visual-localization","task_name":"Visual Localization"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}