Formal and Data Association Aware Robust Belief Space Planning.
Shashank PathakSadegh Esmaeil Zadeh SoudjaniVadim IndelmanAlessandro AbatePublished in: STAIRS (2016)
Keyphrases
- belief space
- data association
- dynamic environments
- motion planning
- state space
- planning under uncertainty
- belief state
- particle filter
- motion model
- object tracking
- visual tracking
- simultaneous localization and mapping
- initial state
- mobile robot
- partially observable
- multi sensor
- kalman filter
- decision theoretic
- partially observable markov decision processes
- object recognition
- classical planning
- multiple objects