Belief Space Planning for Mobile Robots with Range Sensors using iLQG.
Ke SunVijay KumarPublished in: CoRR (2021)
Keyphrases
- belief space
- motion planning
- mobile robot
- range sensors
- dynamic environments
- path planning
- degrees of freedom
- planning under uncertainty
- structured light
- range data
- state space
- range images
- stereo camera
- multi robot
- belief state
- initial state
- target tracking
- partially observable markov decision processes
- partially observable
- planning graph
- depth information
- classical planning
- planning process
- action sequences
- learning algorithm
- three dimensional