A Simple Visual-Servoing Task on a Low-Accuracy, Low-Cost Arm: An Experimental Comparison Between Belief Space Planning and Proportional-Integral-Derivative Controllers.
Fabio BonsignorioEnrica ZereikPublished in: IEEE Robotics Autom. Mag. (2021)
Keyphrases
- belief space
- visual servoing
- control law
- motion planning
- dynamic environments
- belief state
- vision system
- state space
- control scheme
- mobile robot
- planning under uncertainty
- classical planning
- closed loop
- robot control
- control strategy
- initial state
- action sequences
- planning graph
- partially observable
- degrees of freedom
- heuristic search
- control system
- proportional integral derivative
- neural network
- camera motion
- objective function
- reinforcement learning