Delays versus performance of visually guided systemsSharkey, P. and Murray, D.W. (1996) Delays versus performance of visually guided systems. IEE Proceedings-Control Theory and Applications, 143 (5). pp. 436-447. ISSN 1350-2379 Full text not archived in this repository. It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing. To link to this item DOI: 10.1049/ip-cta:19960542 Abstract/SummaryThe paper presents an overview of dynamic systems with inherent delays in both feedforward and feedback paths and how the performance of such systems can be affected by such delays. The authors concentrate on visually guided systems, where the behaviour of the system is largely dependent on the results of the vision sensors, with particular reference to active robot heads (real-time gaze control). We show how the performance of such systems can deteriorate substantially with the presence of unknown and/or variable delays. Considered choice of system architecture, however, allows the performance of active vision systems to be optimised with respect to the delays present in the system.
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