Planning With Uncertainty in Position: An Optimal Planner
- Topics:
- Electrical and Electronic
- Source:
- Carnegie Mellon University
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Overview: This white paper document proposes a resolution-optimal planner that considers uncertainty while optimizing any monotonic objective function such as mobility cost, risk, energy expended, etc. The resulting path is a one that minimizes the expected cost value of the objective function, while ensuring that the uncertainty in the position of the robot does not compromise the safety of the robot or the reach ability of the goal.
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Format: PDF | Size: 923KB | Date: Nov 2004 | Pages: 22
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