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

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arxiv 1504.03581 v1 pith:K7UMPG5K submitted 2015-04-14 math.OC cs.RO

Ignacio de Erausquin , Humberto Gonzalez This is my paper · ORCID
classification math.OCcs.RO
keywords cameraswordcontrolopponentestimationhorizonobservationsreceding
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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.

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