Visual servoing: a global path-planning approach G. Chesi and Y.S. Hung Department of Electrical and Electronic Engineering University of Hong Kong Problem: optimal and constrained eye-in-hand visual servoing for 6 dof robot manipulators Solution: image path-planning via robust object reconstruction and global trajectory parameterization Advantages: several constraints and costs can be considered through polynomial optimizations Example: obstacle avoidance while minimizing the curvature of the trajectory