Robust Navigation Execution by Planning in Belief Space.
Bhaskara MarthiPublished in: Robotics: Science and Systems (2012)
Keyphrases
- belief space
- motion planning
- planning under uncertainty
- dynamic environments
- planning process
- belief state
- partial observability
- state space
- planning tasks
- initial state
- partially observable
- action sequences
- point based value iteration
- computer vision
- planning graph
- decision theoretic
- markov decision processes
- orders of magnitude
- optimal solution