, Cette hypothèse n'est bien sûr pas vérifiée en pratique Il sera donc nécessaire d'introduire des modelés photométriques plus génériques mais aussi d'analyser théoriquement l'influence des erreurs de modélisation sur la stabilité des lois de commande Concernant les hypothèses sur les caractéristiques du robot, la plupart des lois de commande référencées vision sont conçues en supposant que les robots sont holonômes. Ces robots sont globalement linéarisables par retour d'´ etat statique (permettant l'utilisation de techniques classiques de commande des systèmes linéaires) Pour des systèmes robotiques plus complexes (comme par exemple les robots non-holonômes) le modèle linéarisé autour de configurations fixes n'est pas commandable, Des nouvelles techniques de commande ont dûdûêtré elaborées pour ces systèmes. J'ai l'intention d'´ etudier si et comment les techniques de commande référencée vision que j'ai proposés pour les robots holonômes peuventêtrepeuventêtre généralisées ou adaptéesadaptéesà une large classe de systèmes robotiques complexes
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