Model-Free Safety-Critical Control for Robotic Systems.
Tamás G. MolnárRyan K. CosnerAndrew W. SingletaryWyatt UbellackerAaron D. AmesPublished in: CoRR (2021)
Keyphrases
- robotic systems
- model free
- impedance control
- safety critical
- reinforcement learning
- control architecture
- mobile robot
- vision system
- robotic manipulator
- function approximation
- fault tolerant
- reinforcement learning algorithms
- safety analysis
- formal methods
- force control
- real time
- manipulation tasks
- agent architecture
- support systems
- optimal control
- low cost
- visual servoing
- software engineering
- control system
- computer vision