Robust belief space planning under intermittent sensing via a maximum eigenvalue-based bound.
Shaunak D. BopardikarBrendan J. EnglotAlberto SperanzonJur van den BergPublished in: Int. J. Robotics Res. (2016)
Keyphrases
- belief space
- planning tasks
- motion planning
- planning under uncertainty
- belief state
- state space
- dynamic environments
- partial observability
- sensor networks
- initial state
- lower bound
- action sequences
- partially observable
- markov decision processes
- orders of magnitude
- ai planning
- classical planning
- planning process
- humanoid robot
- planning graph
- pose estimation
- computer vision