Vision and Contact based Optimal Control for Autonomous Trocar Docking.
Christopher E. MowerMartin HuberHuanyu TianAyoob DavoodiEmmanuel B. Vander PoortenTom VercauterenChristos BergelesPublished in: CoRR (2024)
Keyphrases
- optimal control
- dynamic programming
- control problems
- vision system
- feedback control
- class of nonlinear systems
- reinforcement learning
- control strategy
- risk sensitive
- infinite horizon
- control law
- real time
- robotic systems
- brownian motion
- lyapunov function
- optimal control problems
- service robots
- data mining
- neural network
- image processing
- stochastic control
- linear quadratic