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| RI | Thesis Proposal | 12 May 2008 | |
Robotics Institute Thesis Proposal 12 May 2008
Place and Time |
Abstract |
Further Details |
Thesis Committee
Online Adaptive Modeling for Outdoor Mobile Robots in Rough Terrain
Dean Anderson
Robotics Institute
Carnegie Mellon University
| Place and Time |
NSH 3305
10:30 AM
| Abstract |
Autonomous navigation by Unmanned Ground Vehicles (UGVs) in rough
terrain is currently a problem of much interest and with many
applications. Currently, models of vehicle mobility are being used in a
feed-forward fashion to improve performance within planning and control.
Such models allow autonomy systems to reason about the consequences of
their actions.
However, the mobility models typically deployed are relatively simple
and lack robustness to changes in the terrain, environment, or vehicle
configuration. This may cause less than optimal behavior by a planning
system evaluating predicted paths for cost, such as when a path is
predicted to be free of obstacles, but when executed results in a
collision.
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.
Furthermore, a natural extension of such a learned model is a principled
formulation for propagation of model uncertainties. Confidences for
both terrain and vehicle parameters can be directly simulated to provide
a probabilistic region of travel along the predicted trajectory. Such
information could be leveraged by a planning system to reduce risk and
increase performance.
| Further Details |
A copy of the thesis proposal document can be found at http://www.cs.cmu.edu/~dranders/fileserv/papers/ThesisProposal.pdf.
| Thesis Committee |
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