Motion planning under uncertainty using iterative local optimization in belief space

International Journal of Robotics Research

Volumn 31, Issue 11, 2012, Pages 1263-1278

  Van Den Berg, Jur ^a   PatiL , Sachin ^b   AlterovitZ , Ron ^b  

^a Department of Electrical and Computer Engineering   (United States)

^b UNIVERSITY OF NORTH CAROLINA   (United States)

Author keywords

belief space planning; integrated planning and control; Motion planning under uncertainty; non holonomic motion planning; partially observable Markov decision process (POMDP)

Indexed keywords

BELIEF SPACE; INTEGRATED PLANNING; NONHOLONOMICS; PARTIALLY OBSERVABLE MARKOV DECISION PROCESS; PLANNING UNDER UNCERTAINTY;

COMPUTER SIMULATION; DYNAMICS; LINEAR CONTROL SYSTEMS; OPTIMIZATION; ROBOTS;

MOTION PLANNING;

EID: 84866279829     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364912456319     Document Type: Conference Paper

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