Stochastic Implicit Neural Signed Distance Functions for Safe Motion Planning under Sensing Uncertainty
Carlos Quintero-Peña,Wil Thomason,Zachary Kingston,Anastasios Kyrillidis,Lydia E. Kavraki,Carlos Quintero-Peña,Wil Thomason,Zachary Kingston,Anastasios Kyrillidis,Lydia E. Kavraki
Motion planning under sensing uncertainty is critical for robots in unstructured environments, to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots such as manipulators, assumes simplified geometry of the robot or environment, or requires per-object knowledge of noise. Instead, we propose a method that direc...
