Collision-probability constrained PRM for a manipulator with base pose uncertainty.
Yifeng HuangKamal GuptaPublished in: IROS (2009)
Keyphrases
- probability theory
- pose estimation
- degrees of freedom
- conditional probabilities
- motion planning
- path planning
- probability distribution
- collision free
- collision detection
- collision avoidance
- probability measures
- probability measure
- probabilistic relational
- confidence intervals
- master slave
- belief functions
- d objects
- decision theory
- uncertain data
- vision system
- inverse kinematics
- robot manipulators
- bayesian networks
- probability distribution function
- inherent uncertainty
- object recognition
- control system
- mobile robot
- computer vision
- dynamic environments
- possibility theory
- position and orientation
- control method