Simultaneous Receding Horizon Estimation and Control of a Fencing Robot using a Single Camera

Ignacio de Erausquin; Humberto Gonzalez

Simultaneous Receding Horizon Estimation and Control of a Fencing Robot using a Single Camera

Optimization and Control 2015-04-15 v1 Robotics

Authors: Ignacio de Erausquin , Humberto Gonzalez

Abstract

We present a method for simultaneous Receding Horizon Estimation and Control of a robotic arm equipped with a sword in an adversarial situation. Using a single camera mounted on the arm, we solve the problem of blocking a opponent's sword with the robot's sword. Our algorithm uses model-based sensing to estimate the opponent's intentions from the camera's observations, while it simultaneously applies a control action to both block the opponent's sword and improve future camera observations.

Keywords

receding horizon estimation receding horizon control fencing robot robotic arm single camera model-based sensing

Cite

@article{arxiv.1504.03581,
  title  = {Simultaneous Receding Horizon Estimation and Control of a Fencing Robot using a Single Camera},
  author = {Ignacio de Erausquin and Humberto Gonzalez},
  journal= {arXiv preprint arXiv:1504.03581},
  year   = {2015}
}

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