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This paper considers the problem of collision-free navigation of omnidirectional mobile robots in environments with obstacles. Information from a monocular camera, encoders, and an inertial measurement unit is used to achieve the task. Three different visual servoing control schemes, compatible with the class of considered robot kinematics and sensor equipment, are analysed and their robustness properties with respect to actuation inaccuracies discussed. Then, a controller is proposed withdoi:10.1109/lra.2019.2913077 fatcat:b2zrmcwzbbg7vafjd4ycsmxsiq