VisNav Research
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Research supported in part by National Science Foundation. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.
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egoTEB: Ego-centric Timed Elastic Bands
Abstract: Our second attempt at integrating the PiPS concept with a local-global navigation scheme. This time we used Timed Elastic Bands (TEB) as the base local planner. Modifying TEB using our egocentric approach leads to egoTEB. A world, grid-based approach has a computational cost that scales with the area of the local grid, whereas the egocircle approach scales with the boundaries. Thus rather than scale quadratically, it scales linearly with regards to the sensing footprint.
More details will be forthcoming.1
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J.S. Smith, R. Xu, P.A. Vela. “egoTEB: Ego-centric, Perception Space Navigation Using Timed-Elastic-Bands.” under review. ↩︎