Planning with Uncertainty in Position: an Optimal Planner
Tech. Report, CMU-RI-TR-04-63, Robotics Institute, Carnegie Mellon University, November, 2004
Abstract
We propose a resolution-optimal planner that considers uncertainty while optimizing any monotonic objective function such as mobility cost, risk, energy expended, etc. The resulting path is a one that minimizes the expected cost value of the objective function, while ensuring that the uncertainty in the position of the robot does not compromise the safety of the robot or the reachability of the goal
BibTeX
@techreport{Gonzalez-2004-9071,author = {Juan Pablo Gonzalez and Anthony (Tony) Stentz},
title = {Planning with Uncertainty in Position: an Optimal Planner},
year = {2004},
month = {November},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-04-63},
keywords = {mobile robot, path planning, uncertainty, optimal planner, error propagation},
}
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