Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC.
Basaran Bahadir KocerMehmet Efe TiryakiMahardhika PratamaTegoeh TjahjowidodoGerald Gim Lee SeetPublished in: CoRR (2019)
Keyphrases
- robot control
- close proximity
- mobile robot
- autonomous robots
- high density
- motion control
- subsumption architecture
- unstructured environments
- visual servoing
- multiple objects
- linear quadratic
- reinforcement learning
- mpc algorithm
- stability analysis
- control law
- pid controller
- optimal control
- dynamic model
- closed loop
- support vector machine
- genetic algorithm