A GP-based Robust Motion Planning Framework for Agile Autonomous Robot Navigation and Recovery in Unknown Environments
Nicholas Mohammad,Jacob Higgins,Nicola Bezzo,Nicholas Mohammad,Jacob Higgins,Nicola Bezzo
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should be able to proactively predict and recover from such failures. To this end, we propose a Gaussian Process (GP) based model for proactively detecting the risk o...
