FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3213888950> ?p ?o ?g. }

• W3213888950 endingPage "7562" @default.
• W3213888950 startingPage "7562" @default.
• W3213888950 abstract "In the context of autonomous robots, one of the most important tasks is to prevent potential damage to the robot during navigation. For this purpose, it is often assumed that one must deal with known probabilistic obstacles, then compute the probability of collision with each obstacle. However, in complex scenarios or unstructured environments, it might be difficult to detect such obstacles. In these cases, a metric map is used, where each position stores the information of occupancy. The most common type of metric map is the Bayesian occupancy map. However, this type of map is not well suited for computing risk assessments for continuous paths due to its discrete nature. Hence, we introduce a novel type of map called the Lambda Field, which is specially designed for risk assessment. We first propose a way to compute such a map and the expectation of a generic risk over a path. Then, we demonstrate the benefits of our generic formulation with a use case defining the risk as the expected collision force over a path. Using this risk definition and the Lambda Field, we show that our framework is capable of doing classical path planning while having a physical-based metric. Furthermore, the Lambda Field gives a natural way to deal with unstructured environments, such as tall grass. Where standard environment representations would always generate trajectories going around such obstacles, our framework allows the robot to go through the grass while being aware of the risk taken." @default.
• W3213888950 created "2021-11-22" @default.
• W3213888950 creator A5003560892 @default.
• W3213888950 creator A5021097071 @default.
• W3213888950 creator A5021723096 @default.
• W3213888950 creator A5047960535 @default.
• W3213888950 creator A5061292767 @default.
• W3213888950 creator A5087094437 @default.
• W3213888950 creator A5091016001 @default.
• W3213888950 date "2021-11-14" @default.
• W3213888950 modified "2023-10-17" @default.
• W3213888950 title "A Novel Occupancy Mapping Framework for Risk-Aware Path Planning in Unstructured Environments" @default.
• W3213888950 cites W1976511700 @default.
• W3213888950 cites W1977189000 @default.
• W3213888950 cites W1988737313 @default.
• W3213888950 cites W1999050017 @default.
• W3213888950 cites W2016151598 @default.
• W3213888950 cites W2016930536 @default.
• W3213888950 cites W2079150870 @default.
• W3213888950 cites W2108400488 @default.
• W3213888950 cites W2156067790 @default.
• W3213888950 cites W2403683192 @default.
• W3213888950 cites W2569527682 @default.
• W3213888950 cites W2588908148 @default.
• W3213888950 cites W2788435880 @default.
• W3213888950 cites W2891228419 @default.
• W3213888950 cites W2963881378 @default.
• W3213888950 cites W3102407944 @default.
• W3213888950 doi "https://doi.org/10.3390/s21227562" @default.
• W3213888950 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/8622820" @default.
• W3213888950 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/34833638" @default.
• W3213888950 hasPublicationYear "2021" @default.
• W3213888950 type Work @default.
• W3213888950 sameAs 3213888950 @default.
• W3213888950 citedByCount "2" @default.
• W3213888950 countsByYear W32138889502022 @default.
• W3213888950 countsByYear W32138889502023 @default.
• W3213888950 crossrefType "journal-article" @default.
• W3213888950 hasAuthorship W3213888950A5003560892 @default.
• W3213888950 hasAuthorship W3213888950A5021097071 @default.
• W3213888950 hasAuthorship W3213888950A5021723096 @default.
• W3213888950 hasAuthorship W3213888950A5047960535 @default.
• W3213888950 hasAuthorship W3213888950A5061292767 @default.
• W3213888950 hasAuthorship W3213888950A5087094437 @default.
• W3213888950 hasAuthorship W3213888950A5091016001 @default.
• W3213888950 hasBestOaLocation W32138889501 @default.
• W3213888950 hasConcept C121332964 @default.
• W3213888950 hasConcept C127413603 @default.
• W3213888950 hasConcept C1276947 @default.
• W3213888950 hasConcept C13662910 @default.
• W3213888950 hasConcept C154945302 @default.
• W3213888950 hasConcept C166957645 @default.
• W3213888950 hasConcept C176217482 @default.
• W3213888950 hasConcept C199360897 @default.
• W3213888950 hasConcept C202444582 @default.
• W3213888950 hasConcept C205649164 @default.
• W3213888950 hasConcept C21547014 @default.
• W3213888950 hasConcept C2776650193 @default.
• W3213888950 hasConcept C2777735758 @default.
• W3213888950 hasConcept C2779343474 @default.
• W3213888950 hasConcept C33923547 @default.
• W3213888950 hasConcept C41008148 @default.
• W3213888950 hasConcept C49937458 @default.
• W3213888950 hasConcept C81074085 @default.
• W3213888950 hasConcept C90509273 @default.
• W3213888950 hasConcept C9652623 @default.
• W3213888950 hasConceptScore W3213888950C121332964 @default.
• W3213888950 hasConceptScore W3213888950C127413603 @default.
• W3213888950 hasConceptScore W3213888950C1276947 @default.
• W3213888950 hasConceptScore W3213888950C13662910 @default.
• W3213888950 hasConceptScore W3213888950C154945302 @default.
• W3213888950 hasConceptScore W3213888950C166957645 @default.
• W3213888950 hasConceptScore W3213888950C176217482 @default.
• W3213888950 hasConceptScore W3213888950C199360897 @default.
• W3213888950 hasConceptScore W3213888950C202444582 @default.
• W3213888950 hasConceptScore W3213888950C205649164 @default.
• W3213888950 hasConceptScore W3213888950C21547014 @default.
• W3213888950 hasConceptScore W3213888950C2776650193 @default.
• W3213888950 hasConceptScore W3213888950C2777735758 @default.
• W3213888950 hasConceptScore W3213888950C2779343474 @default.
• W3213888950 hasConceptScore W3213888950C33923547 @default.
• W3213888950 hasConceptScore W3213888950C41008148 @default.
• W3213888950 hasConceptScore W3213888950C49937458 @default.
• W3213888950 hasConceptScore W3213888950C81074085 @default.
• W3213888950 hasConceptScore W3213888950C90509273 @default.
• W3213888950 hasConceptScore W3213888950C9652623 @default.
• W3213888950 hasFunder F4320320883 @default.
• W3213888950 hasIssue "22" @default.
• W3213888950 hasLocation W32138889501 @default.
• W3213888950 hasLocation W32138889502 @default.
• W3213888950 hasLocation W32138889503 @default.
• W3213888950 hasLocation W32138889504 @default.
• W3213888950 hasLocation W32138889505 @default.
• W3213888950 hasLocation W32138889506 @default.
• W3213888950 hasLocation W32138889507 @default.
• W3213888950 hasOpenAccess W3213888950 @default.
• W3213888950 hasPrimaryLocation W32138889501 @default.
• W3213888950 hasRelatedWork W1996530509 @default.

• next