Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map
نویسندگان
چکیده
منابع مشابه
Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map
A nonholonomic system subjected to external noise from the environment, or internal noise in its own actuators, will evolve in a stochastic manner described by an ensemble of trajectories. This ensemble of trajectories is equivalent to the solution of a Fokker-Planck equation that typically evolves on a Lie group. If the most likely state of such a system is to be estimated, and plans for subse...
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ژورنال
عنوان ژورنال: Robotica
سال: 2008
ISSN: 0263-5747,1469-8668
DOI: 10.1017/s0263574708004475