Learned Risk Metric Maps for Kinodynamic Systems
Ross E. Allen,Wei Xiao,Daniela Rus,Ross E. Allen,Wei Xiao,Daniela Rus
We present Learned Risk Metric Maps (LRMM) for real-time estimation of coherent risk metrics of high-dimensional dynamical systems operating in unstructured, partially observed environments. LRMM models are simple to design and train-requiring only procedural generation of obstacle sets, state and control sampling, and supervised training of a function approximator-which makes them broadly applica...
