Evaluating motion strategies under nondeterministic or probabilistic uncertainties in sensing and control

Steven M. LaValle, Seth A. Hutchinson

Research output: Contribution to journalConference articlepeer-review

Abstract

In this paper we provide a method for characterizing future configurations under the implementation of a motion strategy in the presence of sensing and control uncertainties. We provide general techniques which can apply to either nondeterministic models of uncertainty (as typically considered in preimage planning research) or probabilistic models. Information-space concepts from modern control theory are utilized to define the notion of a strategy in this general context. We have implemented algorithms and show several computed examples that generalize the forward projection concepts from tradition literature in this area.

Original languageEnglish (US)
Pages (from-to)3034-3039
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume4
StatePublished - Jan 1 1996
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: Apr 22 1996Apr 28 1996

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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