Kuhne, Moritz und Giubilato, Riccardo und Leidner, Daniel und Roa Garzon, Máximo Alejandro (2023) Addressing the Entry Barrier for Experimentation in Perception-aware Trajectory Planning for Planetary Rovers. In: IEEE International Conference on Robotics and Automation (ICRA) 2023 Workshops. ICRA Workshop on Active Methods in Autonomous Navigation, 2023-05, London, UK.
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Kurzfassung
To fully evaluate perception-aware planning methods for planetary rover, we need a platform that takes action commands and captures perception data. Even with suitable hardware and simulation available to us, there exists an "entry barrier" for performing research in active vision, as developing methods with a system-in-the-loop is time intensive. We present our approach for tackling this entry barrier by incrementally moving from toy examples to integration and deployment on real robots. Our approach aims at reducing the overall development complexity by producing intermediate results that are used to validate and evaluate the active algorithm.
elib-URL des Eintrags: | https://elib.dlr.de/195631/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||||||
Titel: | Addressing the Entry Barrier for Experimentation in Perception-aware Trajectory Planning for Planetary Rovers | ||||||||||||||||||||
Autoren: |
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Datum: | Juni 2023 | ||||||||||||||||||||
Erschienen in: | IEEE International Conference on Robotics and Automation (ICRA) 2023 Workshops | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Perception-aware, Planning, Software-Development | ||||||||||||||||||||
Veranstaltungstitel: | ICRA Workshop on Active Methods in Autonomous Navigation | ||||||||||||||||||||
Veranstaltungsort: | London, UK | ||||||||||||||||||||
Veranstaltungsart: | Workshop | ||||||||||||||||||||
Veranstaltungsdatum: | Mai 2023 | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Planetare Exploration | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung | ||||||||||||||||||||
Hinterlegt von: | Kuhne, Moritz | ||||||||||||||||||||
Hinterlegt am: | 22 Jun 2023 20:15 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:56 |
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