Benutzer: Gast  Login
Dokumenttyp:
Konferenzbeitrag 
Autor(en):
Lenz, David; Rickert, Markus; Knoll, Alois 
Titel:
Heuristic Search in Belief Space for Motion Planning under Map and Actuator Uncertainties 
Abstract:
In order to fully exploit the capabilities of a robotic system, it is necessary to consider the limitations and errors of actuators and sensors already during the motion planning phase. In this paper, a framework for path planning is introduced, that uses heuristic search to build up a search graph in belief space, an extension to the deterministic state space considering the uncertainty associated with this space. As sources of uncertainty, actuator errors and map uncertainties are considered....    »
 
Kongress- / Buchtitel:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Konferenzort:
Hamburg, Germany 
Jahr:
2015 
Monat:
Sep 
Seiten:
2659--2665