This work presents a methodology to design trajectory tracking feedback control laws, which embed non-parametric statistical models, such as Gaussian Processes (GPs). The aim is to minimize unmodeled dynamics such as undesired slippages. The proposed approach has the benefit of avoiding complex terramechanics analysis to directly estimate from data the robot dynamics on a wide class of trajectories. Experiments in both real and simulated environments prove that the proposed methodology is promising.

翻译：这项工作提出了设计跟踪反馈控制轨迹法的方法,这种轨迹法包含非参数统计模型,如高山进程(GPs),目的是尽量减少非模型动态,如不理想的滑坡。拟议方法的好处是避免复杂的地形机能分析,直接从数据中估计一系列轨道上的机器人动态。在实际和模拟环境中进行的实验证明,拟议方法很有希望。