Continuous-time Gaussian process motion planning via probabilistic inference
نویسندگان
چکیده
منابع مشابه
Continuous-Time Gaussian Process Motion Planning via Probabilistic Inference
We introduce a novel formulation of motion planning, for continuous-time trajectories, as probabilistic inference. We first show how smooth continuous-time trajectories can be represented by a small number of states using sparse Gaussian process (GP) models. We next develop an efficient gradient-based optimization algorithm that exploits this sparsity and Gaussian process interpolation. We call...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2018
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364918790369