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This paper deals with the visibility problems occurring during the execution of a visual servoing task. First, a review of the scientific works related with the visibility are recalled and then the solution proposed by the authors is presented and extended to the case of the sudden disappearance of features on the center of the image. Experimental results demonstrate the improvements (stability and continuity) that can be obtained in the performance of the vision-based control task when the weighted features formulation is used. 1 THE VISIBILITY PROBLEM

THE VISIBILITY PROBLEM IN VISUAL SERVOING