Information spaces for mobile robots

Benjamin Tovar, Anna Yershova, Jason M. O'Kane, Steven M. LaValle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05
PublisherIEEE Computer Society
Pages11-20
Number of pages10
ISBN (Print)8371432666, 9788371432668
DOIs
StatePublished - Jan 1 2005
EventProceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05 - Dymaczewo, Poland
Duration: Jun 23 2005Jun 25 2005

Publication series

NameProceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05
Volume2005

Other

OtherProceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05
CountryPoland
CityDymaczewo
Period6/23/056/25/05

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Tovar, B., Yershova, A., O'Kane, J. M., & LaValle, S. M. (2005). Information spaces for mobile robots. In Proceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05 (pp. 11-20). [1554373] (Proceedings of the Fifth International Workshop on Robot Motion and Control, RoMoCo'05; Vol. 2005). IEEE Computer Society. https://doi.org/10.1109/romoco.2005.201394