Online Adaptive Modeling for Outdoor Mobile Robots in Rough Terrain
Abstract:
Autonomous navigation by Unmanned Ground Vehicles (UGVs) in rough terrain is currently a problem of much interest and with many applications. ...
In this thesis, we propose a system for automatically identifying a vehicle model using conventional, on board state-estimation and terrain perception sensors. Such a system should be able automatically adapt to new or changing environments, vehicle damage or wear and tear. Research areas to be addressed include model structure, convergence and observability.
A copy of the thesis proposal document can be found at http://www.cs.cmu.edu/~dranders/fileserv/papers/ThesisProposal.pdf
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