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A Robotic CAD System using a Bayesian Framework
A Robotic CAD System using a Bayesian Framework (PDF)
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A Robotic CAD System using a Bayesian Framework (Indexer Terms)
We present in this paper a Bayesian CAD system
for robotic applications. We address the problem of the
propagation of geometric uncertainties and how esian
CAD system for robotic applications. We address the
problem of the propagation of geometric uncertainties
and how to take this propagation into account when
solving inverse problems. We describe the methodology
we use to represent and handle uncertainties using
probability distributions on the system's parameters
and sensor measurements. It may be seen as a
generalization of constraint-based approaches where we
express a constraint as a probability distribution instead
of a simple equality or inequality. Appropriate
numerical algorithms used to apply this methodology
are also described. Using an example, we show how
to apply our approach by providing simulation results
using our CAD system.
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A Robotic CAD System using a Bayesian Framework
Robotics
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