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Document type:
Konferenzbeitrag 
Author(s):
Lenz, David; Rickert, Markus; Knoll, Alois 
Title:
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....    »
 
Book / Congress title:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Year:
2015 
Month:
Sep 
Pages:
2659--2665