DynoJEPP introduces directed factors in factor graphs to jointly optimize estimation, prediction, and planning while preventing feedback corruption that causes unsafe behavior in dynamic environments.
Predicted composite signed- distance fields for real-time motion planning in dynamic environ- ments
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DynoJEPP: Joint Estimation, Prediction and Planning in Dynamic Environments
DynoJEPP introduces directed factors in factor graphs to jointly optimize estimation, prediction, and planning while preventing feedback corruption that causes unsafe behavior in dynamic environments.