LyRN (Lyapunov Reaching Network): A Real-Time Closed Loop approach from Monocular Vision
Zheyu Zhuang,Xin Yu,Robert Mahony,Zheyu Zhuang,Xin Yu,Robert Mahony
We propose a closed-loop, multi-instance control algorithm for visually guided reaching based on novel learning principles. A control Lyapunov function methodology is used to design a reaching action for a complex multi-instance task in the case where full state information (poses of all potential reaching points) is available. The proposed algorithm uses monocular vision and manipulator joint ang...
