3 accepted papers
This paper presents a novel constrained image-based visual servoing (IBVS) approach that guarantees target features to remain within the camera field of view (FOV) for the duration of the task. Barrier function (BF) is used to transform the feature dynamics on the image plane into equivalent dynamic…
Learning the dynamical system (DS) model from data that preserves dynamical system properties is an important problem in many robot learning applications. Typically, the joint data coming from cyber-physical systems, such as robots have some underlying DS properties associated with it, e.g., converg…
An algorithm for learning the dynamics of point-to-point motions from demonstrations using an autonomous nonlinear dynamical system, named contracting dynamical system primitives (CDSP), is presented. The motion dynamics are approximated using a Gaussian mixture model (GMM) and its parameters are le