no code implementations • 5 Mar 2022 • Michael Hibbard, Abraham P. Vinod, Jesse Quattrociocchi, Ufuk Topcu
We introduce the Safely motion planner, a receding-horizon control framework, that simultaneously synthesizes both a trajectory for the robot to follow as well as a sensor selection strategy that prescribes trajectory-relevant obstacles to measure at each time step while respecting the sensing constraints of the robot.