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Kinodynamic motion planning on Gaussian mixture fields
2017
2017 IEEE International Conference on Robotics and Automation (ICRA)
We present a mobile robot motion planning approach under kinodynamic constraints that exploits learned perception priors in the form of continuous Gaussian mixture fields. Our Gaussian mixture fields are statistical multi-modal motion models of discrete objects or continuous media in the environment that encode e.g. the dynamics of air or pedestrian flows. We approach this task using a recently proposed circular linear flow field map based on semi-wrapped GMMs whose mixture components guide
doi:10.1109/icra.2017.7989731
dblp:conf/icra/PalmieriK0LA17
fatcat:fsgop2uakrbn5lnhltlzcwrcky