Closed-loop MPC with Dense Visual SLAM - Stability through Reactive Stepping.
Arnaud TanguyDaniele De SimoneAndrew I. ComportGiuseppe OrioloAbderrahmane KheddarPublished in: ICRA (2019)
Keyphrases
- closed loop
- visual slam
- asymptotic stability
- feedback controller
- real time
- open loop
- control system
- dynamic environments
- control scheme
- control law
- feedback control
- camera motion
- external disturbances
- monocular camera
- simultaneous localization and mapping
- bundle adjustment
- linear quadratic
- stability analysis
- lyapunov function
- path planning
- multibody
- nonlinear systems
- particle filter
- video sequences