In this work, we present a Bayesian non-parametric approach to model the motion control of ATVs. The motion control model is based on a Dirichlet Process-Gaussian Process (DP-GP) mixture model. The DP-GP mixture model provides a flexible representation of patterns of control manoeuvres along trajectories of different lengths and discretizations. The model also estimates the number of patterns, sufficient for modeling the dynamics of the ATV.
Learning the dynamics of articulated tracked vehicles / Gianni, Mario; RUIZ GARCIA, MANUEL ALEJANDRO; PIRRI ARDIZZONE, Maria Fiora. - In: WORLD ACADEMY OF SCIENCE, ENGINEERING AND TECHNOLOGY. - ISSN 2010-376X. - ELETTRONICO. - 10:6(2016), pp. 1105-1108.
Learning the dynamics of articulated tracked vehicles
GIANNI, Mario
;RUIZ GARCIA, MANUEL ALEJANDRO;PIRRI ARDIZZONE, Maria Fiora
2016
Abstract
In this work, we present a Bayesian non-parametric approach to model the motion control of ATVs. The motion control model is based on a Dirichlet Process-Gaussian Process (DP-GP) mixture model. The DP-GP mixture model provides a flexible representation of patterns of control manoeuvres along trajectories of different lengths and discretizations. The model also estimates the number of patterns, sufficient for modeling the dynamics of the ATV.| File | Dimensione | Formato | |
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