Motion Planning for Active Data Association and Localization in Non-Gaussian Belief Spaces.
Saurav AgarwalAmirhossein TamjidiSuman ChakravortyPublished in: WAFR (2016)
Keyphrases
- motion planning
- data association
- simultaneous localization and mapping
- belief space
- mobile robot
- configuration space
- multi target tracking
- degrees of freedom
- path planning
- visual tracking
- trajectory planning
- motion model
- multi robot
- kalman filter
- multiple target tracking
- humanoid robot
- particle filter
- robotic tasks
- multiple objects
- object tracking
- multitarget tracking
- multiple hypothesis tracking
- multiple targets
- multi sensor
- body parts
- dynamic environments
- climbing robot
- appearance model
- state space
- object recognition
- probabilistic data association
- multiscale