TY - GEN

T1 - Information spaces for mobile robots

AU - Tovar, Benjamin

AU - Yershova, Anna

AU - O'Kane, Jason M.

AU - LaValle, Steven M.

PY - 2005

Y1 - 2005

N2 - Planning with sensing uncertainty is central to robotics. Sensor limitations often prevent accurate state estimation of the robot. Two general approaches can be taken for solving robotics tasks given sensing uncertainty. The first approach is to estimate the state and to solve the given task using the estimate as the real state. However, estimation of the state may sometimes be harder than solving the original task. The other approach is to avoid estimation of the state, which can be achieved by defining the information space, the space of all histories of actions and sensing observations of a robot system. Considering information spaces brings better understanding of problems involving uncertainty, and also allows finding better solutions to such problems. In this paper we give a brief description of the information space framework, followed by its use in some robotic tasks.

AB - Planning with sensing uncertainty is central to robotics. Sensor limitations often prevent accurate state estimation of the robot. Two general approaches can be taken for solving robotics tasks given sensing uncertainty. The first approach is to estimate the state and to solve the given task using the estimate as the real state. However, estimation of the state may sometimes be harder than solving the original task. The other approach is to avoid estimation of the state, which can be achieved by defining the information space, the space of all histories of actions and sensing observations of a robot system. Considering information spaces brings better understanding of problems involving uncertainty, and also allows finding better solutions to such problems. In this paper we give a brief description of the information space framework, followed by its use in some robotic tasks.

UR - http://www.scopus.com/inward/record.url?scp=33845500524&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33845500524&partnerID=8YFLogxK

U2 - 10.1109/romoco.2005.201394

DO - 10.1109/romoco.2005.201394

M3 - Conference contribution

AN - SCOPUS:33845500524

SN - 8371432666

SN - 9788371432668

T3 - Proceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05

SP - 11

EP - 20

BT - Proceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05

PB - IEEE Computer Society

T2 - Proceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05

Y2 - 23 June 2005 through 25 June 2005

ER -