TY - GEN
T1 - On the probabilistic completeness of the sampling-based feedback motion planners in belief space
AU - Agha-Mohammadi, Ali Akbar
AU - Chakravorty, Suman
AU - Amato, Nancy M.
PY - 2012
Y1 - 2012
N2 - This paper extends the concept of "probabilistic completeness" defined for motion planners in state space (or configuration space) to the concept of "probabilistic completeness under uncertainty" for motion planners in belief space. Accordingly, an approach is proposed to verify the probabilistic completeness of the sampling-based planners in belief space. Finally, through the proposed approach, it is shown that under mild conditions the sampling-based methods constructed based on the abstract framework of FIRM (Feedback-based Information Roadmap Method) are probabilistically complete under uncertainty.
AB - This paper extends the concept of "probabilistic completeness" defined for motion planners in state space (or configuration space) to the concept of "probabilistic completeness under uncertainty" for motion planners in belief space. Accordingly, an approach is proposed to verify the probabilistic completeness of the sampling-based planners in belief space. Finally, through the proposed approach, it is shown that under mild conditions the sampling-based methods constructed based on the abstract framework of FIRM (Feedback-based Information Roadmap Method) are probabilistically complete under uncertainty.
UR - http://www.scopus.com/inward/record.url?scp=84864456953&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864456953&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6225062
DO - 10.1109/ICRA.2012.6225062
M3 - Conference contribution
AN - SCOPUS:84864456953
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3983
EP - 3990
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -