DRIVE: Data-driven Robot Input Vector Exploration
Dominic Baril,Simon-Pierre Deschênes,Luc Coupal,Cyril Goffin,Julien Lépine,Philippe Giguère,François Pomerleau,Dominic Baril,Simon-Pierre Deschênes,Luc Coupal,Cyril Goffin,Julien Lépine,Philippe Giguère,François Pomerleau
An accurate motion model is a fundamental component of most autonomous navigation systems. While much work has been done on improving model formulation, no standard protocol exists for gathering empirical data required to train models. In this work, we address this issue by proposing Data-driven Robot Input Vector Exploration (DRIVE), a protocol that enables characterizing uncrewed ground vehicles...
