Efficient Probabilistic Collision Detection for Non-Gaussian Noise Distributions
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2966404
Abstract: We present an efficient algorithm to compute tight upper bounds of collision probability between two objects with positional uncertainties, whose error distributions are represented with non-Gaussian forms. Our approach can handle noisy datasets from depth… read more here.
Keywords: probabilistic collision; collision detection; non gaussian; efficient probabilistic ... See more keywords
Enhanced Probabilistic Collision Detection for Motion Planning Under Sensing Uncertainty
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2025.3604700
Abstract: Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly use simplified geometric models and address only position estimation… read more here.
Keywords: sensing uncertainty; estimation errors; probabilistic collision;