Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping
Thai Duong,Nikhil Das,Michael Yip,Nikolay Atanasov,Thai Duong,Nikhil Das,Michael Yip,Nikolay Atanasov
This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in which occupied and free space are separated by the decision boundary of a kernel perceptron classifier. We develop an online training algorithm that maintains a very sparse set of support vectors to represent obstacle bou...
