On the probabilistic completeness of the sampling-based feedback motion planners in belief space

Ali Akbar Agha-Mohammadi; Suman Chakravorty; Nancy M. Amato

doi:10.1109/ICRA.2012.6225062

On the probabilistic completeness of the sampling-based feedback motion planners in belief space

Ali Akbar Agha-Mohammadi, Suman Chakravorty, Nancy M. Amato

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English (US)
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3983-3990
Number of pages	8
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6225062
State	Published - 2012
Externally published	Yes
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: May 14 2012 → May 18 2012

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	5/14/12 → 5/18/12

ASJC Scopus subject areas

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

Online availability

10.1109/ICRA.2012.6225062

Library availability

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Cite this

Agha-Mohammadi, A. A., Chakravorty, S., & Amato, N. M. (2012). On the probabilistic completeness of the sampling-based feedback motion planners in belief space. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 3983-3990). Article 6225062 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225062

On the probabilistic completeness of the sampling-based feedback motion planners in belief space. / Agha-Mohammadi, Ali Akbar; Chakravorty, Suman; Amato, Nancy M.
2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 3983-3990 6225062 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Agha-Mohammadi, AA, Chakravorty, S & Amato, NM 2012, On the probabilistic completeness of the sampling-based feedback motion planners in belief space. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6225062, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3983-3990, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6225062

Agha-Mohammadi AA, Chakravorty S, Amato NM. On the probabilistic completeness of the sampling-based feedback motion planners in belief space. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 3983-3990. 6225062. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2012.6225062

Agha-Mohammadi, Ali Akbar ; Chakravorty, Suman ; Amato, Nancy M. / On the probabilistic completeness of the sampling-based feedback motion planners in belief space. 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. pp. 3983-3990 (Proceedings - IEEE International Conference on Robotics and Automation).

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On the probabilistic completeness of the sampling-based feedback motion planners in belief space

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