Explicit Motion Risk Representation
Explicit Motion Risk Representation
复制标题
明确的运动风险表示
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
R. Murphy
中科院分区：
文献类型：
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作者：
Xuesu Xiao;J. Dufek;R. Murphy
本文给出了机器人运动风险的形式化定义和显式表示。目前，机器人运动风险还没有正式定义，但已经被用于运动和路径规划。风险要么使用概率方法隐式地表示为模型不确定性，其中风险的定义在某种程度上是避免的，要么显式地建模为状态的简单函数，而没有正式的定义。在这项工作中，我们提供了形式化的推理背后的风险是什么机器人运动，并提出了一个形式化的定义的风险的运动序列，即路径，也提出了数学方法来表示运动风险，这是根据我们的风险定义和性质。风险的定义和表示提供了一种有意义的方式来评估或构建机器人运动或路径规划。对风险的理解对搜索和救援社区来说更感兴趣：解构的环境给机器人带来了额外的风险，因为它们在极端条件下工作。适当的风险表示有可能减少现场机器人故障。
This paper presents a formal definition and explicit representation of robot motion risk. Currently, robot motion risk has not been formally defined, but has already been used in motion and path planning. Risk is either implicitly represented as model uncertainty using probabilistic approaches, where the definition of risk is somewhat avoided, or explicitly modeled as a simple function of states, without a formal definition. In this work, we provide formal reasoning behind what risk is for robot motion and propose a formal definition of risk in terms of a sequence of motion, namely path. Mathematical approaches to represent motion risk are also presented, which is in accordance with our risk definition and properties. The definition and representation of risk provide a meaningful way to evaluate or construct robot motion or path plans. The understanding of risk is even of greater interest for the search and rescue community: the deconstructed environments cast extra risk onto the robot, since they are working under extreme conditions. A proper risk representation has the potential to reduce robot failure in the field.
使用系留无人机为机器人操作提供自主视觉辅助
DOI：
10.1007/978-981-15-9460-1_2
发表时间：
2021
期刊：
Field and Service Robotics. Springer Proceedings in Advanced Robotics
影响因子：
--
作者：
Xiao, X.;Dufek, J.;Murphy, R.R.
通讯作者：
Murphy, R.R.