Probabilistic Kinematic State Estimation for Motion Planning of Planetary Rovers.
IEEE/RJS International Conference on Intelligent RObots and Systems（2018）
关键词
light-weight analytic solution,rocky terrain,typical numeric approaches,onboard computation,single collision,unstructured terrain,robot motion planning,kinematics-based collision detection,planetary rovers,probabilistic kinematic state estimation,deterministic state bounds,distribution models,probabilistic safety guarantees,worst-case evaluation,deterministic bounds,probability distributions,frequent false positive detection,conservative safety check approach,worst-case values,constraint violation,terrain height,articulated suspension systems,Mars 2020 rover mission,Approximate Clearance Evaluation
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