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Analytic error variance predictions for planar vehicles

Author(s)
Greytak, Matthew B.; Hover, Franz S.
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.

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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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Abstract
Path planning algorithms that incorporate risk and uncertainty need to be able to predict the evolution of path-following error statistics for each candidate plan. We present an analytic method to predict the evolving error statistics of a holonomic vehicle following a reference trajectory in a planar environment. This method is faster than integrating the plant through time or performing a Monte Carlo simulation. It can be applied to systems with external Gaussian disturbances, and it can be extended to handle plant uncertainty through numerical quadrature techniques.
Date issued
2009-07
URI
http://hdl.handle.net/1721.1/59358
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Journal
Proceedings of the IEEE International Conference on Robotics and Automation, 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Greytak, M., and F. Hover. “Analytic error variance predictions for planar vehicles.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 471-476. © Copyright 2010 IEEE
Version: Final published version
Other identifiers
INSPEC Accession Number: 10748725
ISBN
978-1-4244-2788-8
ISSN
1050-4729

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