Simultaneous Localization and Planning for Physical Mobile Robots via Enabling Dynamic Replanning in Belief Space.
Ali-akbar Agha-mohammadiSaurav AgarwalSuman ChakravortyNancy M. AmatoPublished in: CoRR (2015)
Keyphrases
- belief space
- dynamic environments
- mobile robot
- motion planning
- path planning
- partial observability
- plan execution
- state space
- planning tasks
- simultaneous localization and mapping
- classical planning
- heuristic search
- multi robot
- degrees of freedom
- belief state
- point based value iteration
- np hard
- planning process
- search space
- planning under uncertainty
- humanoid robot
- robotic systems
- planning problems