A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf
.
Collision-free state estimation
2012
2012 IEEE International Conference on Robotics and Automation
In state estimation, we often want the maximum likelihood estimate of the current state. For the commonly used joint multivariate Gaussian distribution over the state space, this can be efficiently found using a Kalman filter. However, in complex environments the state space is often highly constrained. For example, for objects within a refrigerator, they cannot interpenetrate each other or the refrigerator walls. The multivariate Gaussian is unconstrained over the state space and cannot
doi:10.1109/icra.2012.6225309
dblp:conf/icra/WongKL12
fatcat:wufitcmfnnbufg2bjyy7brzzfu