Lyapunov Constrained Safe Reinforcement Learning for Multicopter Visual Servoing.
Dafang YuMengxin XuZhe LiuHesheng WangPublished in: IROS (2023)
Keyphrases
- visual servoing
- control law
- reinforcement learning
- optimal control
- robot control
- image based visual servoing
- model free
- closed loop
- adaptive control
- control theory
- control algorithm
- nonlinear systems
- vision system
- mobile robot
- control scheme
- control strategy
- control system
- dynamical systems
- motion planning
- function approximation
- end effector
- robotic arm
- camera motion
- stability analysis
- real time
- learning algorithm
- state space
- dynamic programming
- linear model
- machine learning
- image space
- computer vision
- path planning
- multi modal