Model-Free Safety-Critical Control for Robotic Systems.
Tamás G. MolnárRyan K. CosnerAndrew W. SingletaryWyatt UbellackerAaron D. AmesPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- robotic systems
- model free
- impedance control
- safety critical
- reinforcement learning
- control architecture
- robotic manipulator
- fault tolerant
- mobile robot
- vision system
- reinforcement learning algorithms
- function approximation
- optimal control
- manipulation tasks
- visual servoing
- formal methods
- force control
- support systems
- machine learning
- knowledge base
- agent architecture
- safety analysis
- neural network