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This paper considers the problem of realizing visual servoing taking into account constraints such as visibility and workspace constraints while minimizing a cost function such as spanned image area and trajectory length. A new pathplanning scheme is proposed by, first, introducing a robust object reconstruction which allows one to obtain feasible image trajectories. Second, the rotation path is parameterized through a particular extension of the Euler parameters in order to obtain andoi:10.1109/robot.2007.363629 dblp:conf/icra/ChesiH07 fatcat:5gysvhh73zcunj2h7ylzjlzure