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This paper explores the possibility of using convex optimization to address a class of problems in visual servoing. This work is motivated by the recent success of convex optimization methods in solving geometric inference problems in computer vision. We formulate the visual servoing problem with feature visibility constraints as a convex optimization of a function of the camera position i.e. the translation of the camera. First, the path is planned using potential field method that producesdoi:10.1109/iros.2007.4399590 dblp:conf/iros/HafezNJ07 fatcat:ilfs3fseajhg5g7lejneonzaxm