Topological Trajectory Prediction with Homotopy Classes
Jennifer Wakulicz,Ki Myung Brian Lee,Teresa Vidal-Calleja,Robert Fitch,Jennifer Wakulicz,Ki Myung Brian Lee,Teresa Vidal-Calleja,Robert Fitch
Trajectory prediction in a cluttered environment is key to many important robotics tasks such as autonomous navigation. However, there are an infinite number of possible trajectories to consider. To simplify the space of trajectories under consideration, we utilise homotopy classes to partition the space into countably many mathematically equivalent classes. All members within a class demonstrate ...
