Autonomy research

Closed-loop visual servoing at the edge.

This page documents the guidance and perception research stack: image-based visual servoing (IBVS), a 30 Hz onboard control loop, and hardware-in-the-loop (HITL) simulation validation. All work is simulation-only—not field-deployed.

A · Perception

GPS-denied IBVS—real-time pixel-error tracking and velocity command generation from simulated onboard camera feeds.

B · Guidance

Closed-loop terminal guidance for simulated intercept trajectories—aerial and ground-target scenarios—without continuous operator control per run.

C · Integration

One software architecture supports multiple scenario classes in simulation—reducing duplicated research paths across air and ground-target studies.

Simulation view

One control loop, two perspectives.

The same visual-servoing loop, shown from the command picture and the seeker. Left: top-down pursuit geometry—field-of-view cone and line of sight. Right: the simulated onboard camera reducing pixel error toward zero.

Vandaris IBVS · Simulation digital twin Closed loop @ 30 Hz

TRACKING

ΔX —px

ΔY —px

Error —px

Range —m

Closing —m/s

Lock confidence 0%

Sim runs0 T+0

Proprietary HITL simulator · Command picture + seeker view · Shared telemetry bus

Current MVP architecture: Python / OpenCV on ARM64 — perception and IBVS control loop
Reference embedded platform: Raspberry Pi research board · simulated camera feed (not field-deployed)
Simulation validation: HUD composited over recorded footage via ibvs_sim.py --video