Simultaneous Receding Horizon Estimation and Control of a Fencing Robot using a Single Camera

TL;DR

This paper introduces a method for real-time estimation and control of a fencing robot using a single camera, enabling it to predict and block an opponent's sword effectively in adversarial scenarios.

Contribution

It proposes a novel integrated approach combining receding horizon estimation and control with model-based sensing from a single camera for fencing robots.

Findings

Successfully blocks opponent's sword in simulated tests

Achieves real-time estimation and control with a single camera

Improves future observation quality through control actions

Abstract

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.