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Planning with Uncertainty in Position: an Optimal Planner
J.P. Gonzalez and A. Stentz
tech. report CMU-RI-TR-04-63, Robotics Institute, Carnegie Mellon University, November, 2004.

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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

Notes

Sponsor: U.S. Army Research Laboratory
Grant ID: DAAD19-01-2-0012

Associated centers: VASC and FRC
Associated lab/group: NavLab
Associated project: CTA Robotics

Text Reference

J.P. Gonzalez and A. 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",
   institution = "Robotics Institute, Carnegie Mellon University",
   month = "November",
   year = "2004",
   number = "CMU-RI-TR-04-63",
   address = "Pittsburgh, PA"
}