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We present a method for simultaneous Receding Horizon Estimation and Controlof a robotic arm equipped with a sword in an adversarial situation. Using asingle camera mounted on the arm, we solve the problem of blocking a opponent'ssword with the robot's sword. Our algorithm uses model-based sensing toestimate the opponent's intentions from the camera's observations, while itsimultaneously applies a control action to both block the opponent's sword andimprove future camera observations.

Simultaneous Receding Horizon Estimation and Control of a Fencing Robot using a Single Camera