Topological belief space planning for active SLAM with pairwise Gaussian potentials and performance guarantees.
Andrej KitanovVadim IndelmanPublished in: Int. J. Robotics Res. (2024)
Keyphrases
- belief space
- pairwise
- dynamic environments
- initial state
- motion planning
- mobile robot
- planning tasks
- planning under uncertainty
- belief state
- higher order
- state space
- simultaneous localization and mapping
- partially observable
- partially observable markov decision processes
- markov random field
- classical planning
- multi agent
- degrees of freedom
- planning process
- planning graph
- belief revision
- optimal policy
- particle filter