A visual servoing controller with control barrier functions is made robust to camera pose errors and combined with human supervision for mobile manipulators assembling structures from blocks.
Occlusion-free image-based vi- sual servoing using probabilistic control barrier certificates,
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Robust Visual Servoing under Human Supervision for Assembly Tasks
A visual servoing controller with control barrier functions is made robust to camera pose errors and combined with human supervision for mobile manipulators assembling structures from blocks.