The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We describe an efficient method for planning in environments for which prior maps are plagued with uncertainty. Our approach processes the map to determine key areas whose uncertainty is crucial to the planning task. It then incorporates the uncertainty associated with these areas using the recently developed PAO* algorithm to produce a fast, robust solution to the original planning task.

Keywords

Path planning

Notes

Text Reference

David Ferguson and Anthony (Tony) Stentz, "Planning with Map Uncertainty," tech. report CMU-RI-TR-04-09, Robotics Institute, Carnegie Mellon University, February, 2004

BibTeX Reference

@techreport{Ferguson_2004_4590,
   author = "David Ferguson and Anthony (Tony) Stentz",
   title = "Planning with Map Uncertainty",
   booktitle = "",
   institution = "Robotics Institute",
   month = "February",
   year = "2004",
   number= "CMU-RI-TR-04-09",
   address= "Pittsburgh, PA",
}

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