Simultaneous Receding Horizon Estimation and Control of a Fencing Robot using a Single Camera
This addresses a specific adversarial control problem in robotics, but appears incremental as it applies known receding horizon techniques to a new domain.
The paper tackles the problem of a robotic arm blocking an opponent's sword in fencing using a single camera, by developing a method for simultaneous receding horizon estimation and control that estimates opponent intentions and applies control actions to block and improve observations.
We present a method for simultaneous Receding Horizon Estimation and Control of a robotic arm equipped with a sword in an adversarial situation. Using a single camera mounted on the arm, we solve the problem of blocking a opponent's sword with the robot's sword. Our algorithm uses model-based sensing to estimate the opponent's intentions from the camera's observations, while it simultaneously applies a control action to both block the opponent's sword and improve future camera observations.