Sigma hulls for Gaussian belief space planning for imprecise articulated robots amid obstacles.
Alex X. LeeYan DuanSachin PatilJohn SchulmanZoe McCarthyJur van den BergKen GoldbergPieter AbbeelPublished in: IROS (2013)
Keyphrases
- belief space
- motion planning
- collision free
- dynamic environments
- planning tasks
- mobile robot
- state space
- belief state
- planning under uncertainty
- humanoid robot
- multi robot
- path planning
- partially observable markov decision processes
- initial state
- planning graph
- partially observable
- classical planning
- robotic systems
- degrees of freedom
- orders of magnitude
- reinforcement learning
- machine learning