Nonmyopic data association aware belief space planning for robust active perception.
Shashank PathakAntony ThomasVadim IndelmanPublished in: ICRA (2017)
Keyphrases
- belief space
- data association
- dynamic environments
- motion planning
- belief state
- state space
- planning under uncertainty
- object tracking
- motion model
- particle filter
- multiple objects
- visual tracking
- partially observable markov decision processes
- initial state
- planning process
- multi sensor
- kalman filter
- partially observable
- classical planning
- action sequences
- planning graph
- planning problems
- multiscale
- moving objects