Speeding up Gaussian Belief Space Planning for Underwater Robots Through a Covariance Upper Bound.
Huan YuWenjie LuDikai LiuYongqiang HanQinghe WuPublished in: IEEE Access (2019)
Keyphrases
- belief space
- upper bound
- motion planning
- lower bound
- planning tasks
- planning under uncertainty
- mobile robot
- multi robot
- state space
- dynamic environments
- belief state
- initial state
- partially observable
- humanoid robot
- classical planning
- path planning
- planning problems
- maximum likelihood
- action sequences
- planning process
- point based value iteration
- vision system
- partially observable markov decision processes
- ai planning
- plan recognition
- robotic systems
- belief revision