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 language | English (US) |
|---|---|
| Pages (from-to) | 3034-3039 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 4 |
| State | Published - 1996 |
| Externally published | Yes |
| Event | Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA Duration: Apr 22 1996 → Apr 28 1996 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering