Wei-Wei Lei

Vision-Guided Nonlinear Model Predictive Control for Coordinated Dual-Manipulator Pre-Contact Capture of Tumbling Space Targets

This paper presents a vision-guided nonlinear model predictive control (MPC) framework for coordinated dual-manipulator pre-contact acquisition of tumbling targets. Temporal monocular estimation supplies pose, motion, and uncertainty; rigid-body prediction generates fixture trajectories; and model-based or diffusion ca...