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 [BibTeX] [Marc21]
A memory of motion for visual predictive control tasks
Type of publication: Conference paper
Citation: Paolillo_ICRA2020_2020
Publication status: Accepted
Booktitle: International Conference on Robotics and Automation
Year: 2020
Abstract: This paper addresses the problem of efficiently achieving visual predictive control tasks. To this end, a memory of motion, containing a set of trajectories built off-line, is used for leveraging precomputation and dealing with difficult visual tasks. Standard regression techniques, such as k-nearest neighbors and Gaussian process regression, are used to query the memory and provide on-line a warm-start and a way point to the control optimization process. The proposed technique allows the control scheme to achieve high performance %difficult tasks and, at the same time, keep the computational time limited. Simulation and experimental results, carried out with a 7-axis manipulator, show the effectiveness of the approach.
Keywords: Visual Predictive Control
Projects Idiap
Authors Paolillo, Antonio
Lembono, Teguh Santoso
Calinon, Sylvain
Added by: [UNK]
Total mark: 0
  • Paolillo_ICRA2020_2020.pdf