Estimating probability of collision for safe motion planning under Gaussian motion and sensing uncertainty.
Sachin PatilJur van den BergRon AlterovitzPublished in: ICRA (2012)
Keyphrases
- motion planning
- collision free
- degrees of freedom
- path planning
- humanoid robot
- mobile robot
- robotic tasks
- trajectory planning
- conditional probabilities
- collision avoidance
- inverse kinematics
- robot arm
- probability theory
- autonomous mobile robot
- multi robot
- probability distribution
- configuration space
- belief space
- manipulation tasks
- mechanical systems
- rigid body
- obstacle avoidance
- robotic arm
- maximum likelihood
- multi modal
- kinematic model
- real time
- gaussian mixture model
- pose estimation
- computer vision