Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds.
Jake WeldeVijay KumarPublished in: CoRR (2024)
Keyphrases
- mechanical systems
- riemannian manifolds
- control law
- trajectory tracking
- motion planning
- closed loop
- control scheme
- euclidean space
- control system
- geometric structure
- degrees of freedom
- control algorithm
- mean shift
- visual servoing
- vector space
- feature space
- physical constraints
- dynamic model
- real time
- path planning
- multi modal
- spatio temporal
- computer vision