Encrypted Feedback Linearization and Motion Control for Manipulator with Somewhat Homomorphic Encryption.
Kaoru TeranishiKiminao KogisoJun UedaPublished in: AIM (2020)
Keyphrases
- motion control
- control system
- homomorphic encryption
- mobile robot
- encryption scheme
- path planning
- privacy preserving
- autonomous navigation
- robot control
- data sharing
- autonomous robots
- physical constraints
- degrees of freedom
- control scheme
- public key
- control method
- visual servoing
- security analysis
- real time
- control algorithm
- closed loop
- vision system
- database
- privacy protection
- control law
- pid controller