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Autonomous Excavation of Rocks Using a Gaussian Process Model and Unscented Kalman Filter

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Academic year: 2021

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Figure

Figure 2 shows a schematic of the rock-bucket system considered in this paper. For simplicity, we consider a single, isolated rock, the size of which is approximately 30-80 % of the bucket size
Fig. 3. The complete rock collection is performed in 3 stages. Firstly (a) the bucket is moved to a reasonable position behind the rock
Fig. 5 shows how the NLPD and NMSE vary as a function of training data-set size. As is to be expected both metrics decrease with increasing training data-set size, however the
Fig. 7. The optimal φ and ∆L b for varying relative rock-bucket position.

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