D2A-BSP: Distilled Data Association Belief Space Planning with Performance Guarantees Under Budget Constraints
Moshe Shienman,Vadim Indelman,Moshe Shienman,Vadim Indelman
Unresolved data association in ambiguous and perceptually aliased environments leads to multi-modal hypotheses on both the robot's and the environment state. To avoid catastrophic results, when operating in such ambiguous environments, it is crucial to reason about data association within Belief Space Planning (BSP). However, explicitly considering all possible data associations, the number of hyp...
