Nonmyopic data association aware belief space planning for robust active perception

Shashank Pathak, Antony Thomas, Vadim Indelman

نتاج البحث: فصل من :كتاب / تقرير / مؤتمرمنشور من مؤتمرمراجعة النظراء

ملخص

One key assumption of Belief Space Planning (BSP) is that the data association is known perfectly. In this paper, we relax this assumption in the context of non-myopic planning as well as belief being a Gaussian Mixture Model (GMM). Interestingly, explicit reasoning about the data association within the belief enables our framework to have parsimonious data association, thereby resulting in a scalable solution compared with naïve permutational approaches. Unlike in some of the recent approaches where the number of components in a GMM belief can only be reduced, in our approach this can also go up such as due to perceptual aliasing present in the environment. Furthermore, our approach naturally integrates with inference, providing a unified framework for robust passive and active perception. We demonstrate key aspects of our approach and its comparison with the state of the art on a general abstract domain as well as in a real robot setup.

اللغة الأصليةالإنجليزيّة
عنوان منشور المضيفICRA 2017 - IEEE International Conference on Robotics and Automation
الصفحات4487-4494
عدد الصفحات8
رقم المعيار الدولي للكتب (الإلكتروني)9781509046331
المعرِّفات الرقمية للأشياء
حالة النشرنُشِر - 21 يوليو 2017
الحدث2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, سنغافورة
المدة: ٢٩ مايو ٢٠١٧٣ يونيو ٢٠١٧

سلسلة المنشورات

الاسمProceedings - IEEE International Conference on Robotics and Automation

!!Conference

!!Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
الدولة/الإقليمسنغافورة
المدينةSingapore
المدة٢٩/٠٥/١٧٣/٠٦/١٧

All Science Journal Classification (ASJC) codes

  • !!Software
  • !!Control and Systems Engineering
  • !!Artificial Intelligence
  • !!Electrical and Electronic Engineering

بصمة

أدرس بدقة موضوعات البحث “Nonmyopic data association aware belief space planning for robust active perception'. فهما يشكلان معًا بصمة فريدة.

قم بذكر هذا