Belief Space Planning for Reducing Terrain Relative Localization Uncertainty in Noisy Elevation Maps.
Eugene FangP. Michael FurlongWilliam WhittakerPublished in: ICRA (2019)
Keyphrases
- belief space
- partial observability
- belief state
- motion planning
- planning tasks
- state space
- planning under uncertainty
- dynamic environments
- elevation data
- symbolic model checking
- initial state
- digital elevation models
- planning graph
- decision theoretic
- partially observable
- planning process
- point based value iteration
- degrees of freedom
- graphical models