4. TITLE AND SUBTITLE

This technical report1 presents a framework for visual servoing that guarantees convergence to a visible goal from most initially visible configurations while maintaining full view of all the feature points along the way. The method applies to first and second order fully actuated plant models. The solution entails three components: a model for the “occlusion-free ” workspace; a change of coordinates from image to model coordinates; and a navigation function for the model space. We present three example applications of the framework, along with experimental validation of its practical efficacy. 1A version of this manuscript will appear in IEEE Transactions on Robotics and Automation. This version contains many details which were omitted from the final paper. 1 Report Documentation Page Form ApprovedOMB No. 0704-0188 Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information