状態推定arXiv:2409.12302
時空間連続体：柔軟ロボットの連続的形状・時間状態推定
Space-Time Continuum: Continuous Shape and Time State Estimation for Flexible Robots
連続体ロボットの状態推定を、弧長と時間の両方でパラメータ化されたガウス過程事前分布を用いた因子グラフ最適化として定式化し、初の連続時間・空間状態推定法を提案した。
著者: Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs, Timothy D. Barfoot
分類: cs.RO
原文アブストラクト
This extended abstract introduces a novel method for continuous state estimation of continuum robots. We formulate the estimation problem as a factor-graph optimization problem using a novel Gaussian-process prior that is parameterized over both arclength and time. We use this to introduce the first continuous-time-and-space state estimation method for continuum robots.
