The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We propose 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 reachability of the goal

Keywords

mobile robot, path planning, uncertainty, optimal planner, error propagation

Notes

Sponsor: U.S. Army Research Laboratory

Grant ID: DAAD19-01-2-0012

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center

Associated Project(s): CTA Robotics

Text Reference

Juan Pablo Gonzalez and Anthony (Tony) Stentz, "Planning with Uncertainty in Position: an Optimal Planner," tech. report CMU-RI-TR-04-63, Robotics Institute, Carnegie Mellon University, November, 2004

BibTeX Reference

@techreport{Gonzalez_2004_4834,
   author = "Juan Pablo Gonzalez and Anthony (Tony) Stentz",
   title = "Planning with Uncertainty in Position: an Optimal Planner",
   booktitle = "",
   institution = "Robotics Institute",
   month = "November",
   year = "2004",
   number= "CMU-RI-TR-04-63",
   address= "Pittsburgh, PA",
}

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