A Simple Visual-Servoing Task on a Low-Accuracy, Low-Cost Arm: An Experimental Comparison between Belief Space Planning and Proportional-Integral-Derivative Controllers

Abstract

The main aim of this article is to provide an example of reproducible research in robotics. Despite the fact that a large number of researchers agree on the need of reproducibility in robotics and artificial intelligence, the practice of reproducible research is still in an embryonic phase. As a matter of fact, IEEE Robotics and Automation Magazine is, at the date of this article submission, the only top-tier robotics publication accepting "reproducible"articles. To this end, we have chosen a very common and traditional problem and approached it with a "first principles"attitude.