The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance

The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance

When a mobile agent does not known its position perfectly, incorporating the predicted uncertainty of future position estimates into the planning process can lead to substantially better motion performance. However, planning in the space of probabilistic position estimates, or belief space, can...

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Bibliographic Details
Main Authors: Roy, Nicholas, Prentice, Samuel James
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:en_US
Published: Sage Publications 2010
Subjects:
planning under uncertainty
motion planning
probabilistic
state estimation
Online Access:http://hdl.handle.net/1721.1/58752
https://orcid.org/0000-0002-4959-7368
https://orcid.org/0000-0002-8293-0492

Internet

http://hdl.handle.net/1721.1/58752
https://orcid.org/0000-0002-4959-7368
https://orcid.org/0000-0002-8293-0492

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