Demand-based mapping using motion planning

Under Graduate Project, Indian Institute of Technology Kanpur, 2017

Developed a joint motion planning-mapping system for a robot such that costmap of the environment for mapping is generated on-demand based on motion planner queries.

  • Implemented the system in ROS framework with code in python and C++
  • Trained online learning based classifiers on real-world collected data with patch level supervision to accomodate for concept drift.

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