3 accepted papers
In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly op-posite optimization objectives can be used to improve trajectory control tracking and, at the same time, estimation performanc…
Visual servoing (VS) is a common way in robotics to control a robot motion usinginformation acquired by a camera. This approach requires to extract visual information from the image to design the control law. The resulting servo loop is built in order to minimize an error expressed in the image spac
In this paper we extend the previously introduced notion of closed-loop state sensitivity by introducing the concept of input sensitivity and by showing how to exploit it in a trajectory optimization framework. This allows to generate an optimal reference trajectory for a robot that minimizes the st…