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Trevor Phillips

dblp:304/4297 · DBLP profile ↗
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1ranked-venue papers
1as first author
1since 2021 · last 2021
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 first-author · 1 since 2021Systems, architecture and hardware · 1 · 1 first-author · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 70% 3D vision · 23% Legged, aerial and field robots · 7%

Topics — the 5 heaviest of 5, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control
motion planning
0.512021
Learn to Path: Using neural networks to predict Dubins path characteristics for aerial vehicles in wind · ICRA 2021
Computer vision › 3D vision
nearest neighbor search
0.512021
Learn to Path: Using neural networks to predict Dubins path characteristics for aerial vehicles in wind · ICRA 2021
Robotics › Motion planning and robot control › motion planning › sampling-based motion planning
RRT
0.512021
Learn to Path: Using neural networks to predict Dubins path characteristics for aerial vehicles in wind · ICRA 2021
Robotics › Motion planning and robot control › motion planning
sampling-based motion planning
0.512021
Learn to Path: Using neural networks to predict Dubins path characteristics for aerial vehicles in wind · ICRA 2021
Robotics › Legged, aerial and field robots
aerial robots
0.112021
Learn to Path: Using neural networks to predict Dubins path characteristics for aerial vehicles in wind · ICRA 2021

Methods — techniques the papers use, named apart from their topics

neural network · 0.5dubins airplane model · 0.5
YearPublicationVenuePosition
2021 Learn to Path: Using neural networks to predict Dubins path characteristics for aerial vehicles in wind
abstract
For asymptotically optimal sampling-based path planners such as RRT*, path quality improves as the number of samples added to the motion tree increases. However, each additional sample requires a nearest-neighbor search. Calculating state transition costs can be particularly difficult in cases with complex dynamics such as aerial vehicles in non-isotropic cost fields like wind. Computationally costly nearest neighbor searches increase the time required to add new samples to the search tree, thereby reducing the likelihood of finding low-cost paths in a given computational time. In this paper, we propose the use of a lightweight neural network to approximate nearest neighbor cost calculations. The network approach uses a low-dimensional encoding of the cost space along with a start and goal query pair and returns an estimate of the path cost that can be used for nearest neighbor and path validity estimation. We demonstrate our method for a Dubins airplane model in a 3D wind field and show that the network method achieves equivalent path lengths as an existing iterative solver 32% faster and, when given the same search time, up to 10.8% shorter.
Trevor Phillips, Maximilian Stölzle, Erick Turricelli, Florian Achermann, Nicholas R. J. Lawrance, Roland Siegwart, Jen Jen Chung
ICRA1