Robot excitation trajectories for dynamic parameter estimation using optimized B-splines.
Wolfgang RacklRoberto LamparielloGerd HirzingerPublished in: ICRA (2012)
Keyphrases
- parameter estimation
- b spline
- least squares
- maximum likelihood
- model selection
- markov random field
- em algorithm
- parameter estimation algorithm
- parameter values
- mobile robot
- random fields
- statistical models
- expectation maximization
- control points
- maximum likelihood estimation
- collision free
- basis functions
- dynamic environments
- tensor product
- model fitting
- linear combination
- curve fitting
- piecewise polynomial
- maximum likelihood estimates
- free form deformation
- moving objects