Control analysis of an active inference controller for a skid-steer mobile robot: An analysis on the performance of the active inference controller focusing on convergence time

Active Inference control is a novel control method based on the free energy principle, which combines action, perception and learning [1][2]. The first Active Inference controller showed promising results on a 7-DOF robot arm for a pick and placing task, however it took nearly six seconds to converge which is too slow [2]. This thesis aims to...