The main objectives of this project are the study of problems related to robot perception and control using catadioptric systems. In particular visual servoing will include the use of uncalibrated images. The catadioptric systems that will be considered are central projection systems. The goals will include the development of mathematical models and coordinate systems that can simplify instances of servoing. The definition of features that can be robustly tracked with this type of images is also a goal of the project as well as the development of algorithms for servoing using partially calibrated or uncalibrated images. To reach this goal a systematic approach will be used. For that purpose a general mathematical model for perspective/catadioptric imaging formation will be established, covering the situations of vision system motion and the relative motions between the mirror and the imaging device that do not violate the central projection constraint.