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A new non-parametric learning technique is presented to generate a mobility representation where the maximum feasible speed is used as a criterion to classify the world. The inputs to the algorithm are terrain gradients derived from an elevation map and past observations of wheel slip. It is argued that such a representation can aid in path planning with improved selection of vehicle heading and velocity in off-road slopes. In addition, an information theoretic test is proposed to validate a chosen proprioceptive representation (such as slip) for mobility map generation. Results of mobility map generation and its benefits to path planning are shown.<\/jats:p>","DOI":"10.1177\/0278364910370241","type":"journal-article","created":{"date-parts":[[2010,5,4]],"date-time":"2010-05-04T21:50:51Z","timestamp":1273009851000},"page":"997-1018","source":"Crossref","is-referenced-by-count":19,"title":["Non-parametric Learning to Aid Path Planning over Slopes"],"prefix":"10.1177","volume":"29","author":[{"given":"Sisir","family":"Karumanchi","sequence":"first","affiliation":[{"name":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Thomas","family":"Allen","sequence":"additional","affiliation":[{"name":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tim","family":"Bailey","sequence":"additional","affiliation":[{"name":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Steve","family":"Scheding","sequence":"additional","affiliation":[{"name":"ARC Centre of Excellence For Autonomous Systems (CAS), Australian Centre                         For Field Robotics (ACFR), Department of Mechanical, Mechatronic and                         Aerospace Engineering, The University of Sydney, NSW 2006, Australia,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2010,5,4]]},"reference":[{"key":"atypb1","volume-title":"21st International Conference on Machine Learning","author":"Abbeel, P."},{"key":"atypb2","volume-title":"Proceedings of Robotics: Science and Systems (RSS)","author":"Angelova, A."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20179"},{"key":"atypb4","volume-title":"Pattern Recognition And Machine Learning","author":"Bishop, C.M.","year":"2006"},{"key":"atypb5","volume-title":"Gaussian Processes-Iterative Sparse Approximations","author":"Csat\u00f3, L.","year":"2002"},{"key":"atypb6","volume-title":"Advances in Neural Information Processing Systems (NIPS)","author":"Goldberg, P."},{"key":"atypb7","volume-title":"Digital Image Processing","author":"Gonzalez, R.C.","year":"2008","edition":"3"},{"key":"atypb8","volume-title":"IEEE Aerospace Conference","author":"Green, A.R."},{"key":"atypb9","volume-title":"Proceedings of Robotics: Science and Systems","author":"Hadsell, R."},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20161"},{"key":"atypb11","volume-title":"Process Models for the Navigation of High-Speed Land Vehicles","author":"Julier, S.J.","year":"1996"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/9.847726"},{"key":"atypb13","volume-title":"Proceedings of Robotics: Science and Systems","author":"Karumanchi, S."},{"key":"atypb14","volume-title":"Proceedings of 24th Internatinal Conference on Machine Learning","author":"Kersting, K."},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364902021010841"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.614331"},{"key":"atypb17","unstructured":"Meeds, E. and Osindero, S. 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Infinite Mixtures of Gaussian Process Experts (Advances                     in Neural Information Processing Systems, Vol. 14).                         Cambridge, MA, The MIT                         Press, pp. 881-888."},{"key":"atypb23","unstructured":"Rasmussen, C.E. and Williams, C.K.I. (                     2006). Gaussian Processes for Machine Learning.                         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