Enhanced Probabilistic Collision Detection for Motion Planning Under Sensing Uncertainty
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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;