A standardized random-sampling protocol for terrain-robot system identification is validated on 14.7 km of off-road data, and a kinetic-energy ratio metric is proposed to quantify command unpredictability.
DRIVE: Data-driven Robot Input Vector Exploration,
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DRIVE Through the Unpredictability:From a Protocol Investigating Slip to a Metric Estimating Command Uncertainty
A standardized random-sampling protocol for terrain-robot system identification is validated on 14.7 km of off-road data, and a kinetic-energy ratio metric is proposed to quantify command unpredictability.