Trajectory error compensation for optimal control of UMA-2 - a climbing robot executing maintenance operation in harsh environment.
Diego GitardiS. SabbadiniAnna ValentePublished in: ICRA (2023)
Keyphrases
- optimal control
- error compensation
- feedback control
- control problems
- dynamic programming
- climbing robot
- control strategy
- class of nonlinear systems
- risk sensitive
- optimal control problems
- infinite horizon
- real time
- mobile robot
- reinforcement learning
- neural network
- machine learning
- lyapunov function
- multiscale
- control system
- viewpoint
- robotic systems
- stochastic control
- linear quadratic
- dynamic environments
- multi view
- d objects
- image data