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