Evaluating Trajectory Collision Probability through Adaptive Importance Sampling for Safe Motion Planning.
Edward SchmerlingMarco PavonePublished in: Robotics: Science and Systems (2017)
Keyphrases
- motion planning
- importance sampling
- collision free
- trajectory planning
- monte carlo
- degrees of freedom
- path planning
- mobile robot
- kalman filter
- configuration space
- markov chain
- collision avoidance
- obstacle avoidance
- multi robot
- humanoid robot
- particle filter
- probability distribution
- markov chain monte carlo
- particle filtering
- approximate inference
- posterior distribution
- conditional probabilities
- mechanical systems
- pairwise
- posterior probability
- latent variables
- robot manipulators
- object tracking
- dynamic environments