A Bayesian framework for optimal motion planning with uncertainty.
Andrea CensiDaniele CalisiAlessandro De LucaGiuseppe OrioloPublished in: ICRA (2008)
Keyphrases
- bayesian framework
- motion planning
- path planning
- degrees of freedom
- prior knowledge
- humanoid robot
- generative model
- trajectory planning
- mobile robot
- probability density function
- posterior probability
- collision free
- posterior distribution
- multi robot
- bayesian formulation
- gaussian process
- dynamic programming
- robotic tasks
- maximum a posteriori
- closed form
- mechanical systems
- obstacle avoidance
- configuration space
- climbing robot
- robotic arm
- expectation maximization
- optimal path
- conditional probabilities
- autonomous mobile robot
- viewpoint
- high quality