CS-BRM: A Probabilistic RoadMap for Consistent Belief Space Planning With Reachability Guarantees.
Dongliang ZhengJack RidderhofZhiyuan ZhangPanagiotis TsiotrasAli-Akbar Agha-MohammadiPublished in: IEEE Trans. Robotics (2024)
Keyphrases
- belief space
- state space
- initial state
- planning tasks
- motion planning
- dynamic environments
- partial observability
- belief state
- planning under uncertainty
- partially observable
- classical planning
- probabilistic model
- orders of magnitude
- planning problems
- heuristic search
- planning graph
- situation calculus
- generative model
- reinforcement learning
- symbolic model checking
- bayesian networks
- dynamic programming
- human motion
- particle filter
- graphical models
- learning algorithm