T-LQG: Closed-loop belief space planning via trajectory-optimized LQG.
Mohammadhussein RafieisakhaeiSuman ChakravortyP. R. KumarPublished in: ICRA (2017)
Keyphrases
- belief space
- closed loop
- motion planning
- linear quadratic
- control law
- open loop
- control system
- degrees of freedom
- control scheme
- path planning
- dynamic environments
- reference trajectory
- mobile robot
- belief state
- humanoid robot
- planning under uncertainty
- multi robot
- optimal control
- state space
- partially observable
- partially observable markov decision processes
- initial state
- graphical models
- bayesian networks
- classical planning
- planning problems
- computational complexity