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cs.RO2021
MPPI-VS: Sampling-Based Model Predictive Control Strategy for Constrained Image-Based and Position-Based Visual Servoing
Ihab S. Mohamed
In this paper, we open up new avenues for visual servoing systems built upon the Path Integral (PI) optimal control theory, in which the non-linear partial differential equation (P…
cs.RO2020
Model Predictive Path Integral Control Framework for Partially Observable Navigation: A Quadrotor Case Study
Ihab S. Mohamed, Guillaume Allibert, Philippe Martinet
Recently, Model Predictive Path Integral (MPPI) control algorithm has been extensively applied to autonomous navigation tasks, where the cost map is mostly assumed to be known and…
cs.RO2008
A Vision-based Computed Torque Control for Parallel Kinematic Machines
Flavien Paccot, Philippe Lemoine, Nicolas Andreff +2
In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach b…