Decision-theoretic MPC: Motion Planning with Weighted Maneuver Preferences Under Uncertainty.
Ömer Sahin TasPhilipp Heinrich BrusiusChristoph StillerPublished in: CoRR (2023)
Keyphrases
- decision theoretic
- motion planning
- expected utility
- decision theory
- closed loop
- degrees of freedom
- preference relations
- trajectory planning
- mobile robot
- path planning
- robot arm
- humanoid robot
- robotic tasks
- planning under uncertainty
- control law
- autonomous mobile robot
- plan recognition
- multi robot
- decision models
- obstacle avoidance
- control system
- decision making
- inverse kinematics
- robotic arm
- configuration space
- belief space
- belief functions
- decision model