Belief-Space Planning for Real-World Systems: Efficient SLAM-Based Belief Propagation and Continuous-Time Safety
Uncertainty-aware planning has long been a recurring goal in robotics. By enabling autonomous systems to explicitly reason about their own uncertainty, desirable behaviors that increase observability and ensure robust constraint satisfaction arise naturally from high-level optimization specification...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2022
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| Online Access: | https://hdl.handle.net/1721.1/139099 |