TY - GEN
T1 - Motion planning with uncertainty
AU - Zhang, Hong
AU - Kumar, V.
AU - Ostrowski, J.
N1 - Funding Information:
*The support of NSF grants MIP94-20397, IR193-3980, IRI93-07126, and GER93-55018, and ARO grants P-34150-MA-AAS, DAAH04-96-1-0007, and DURIP DAAG55-97-1-0064 is gratefully acknowledged.
Publisher Copyright:
© 1998 IEEE.
PY - 1998
Y1 - 1998
N2 - We present a general framework for motion planning of robots in the presence of obstacles and other robots. W e use variational calculus and optimization to find optimal open loop and closed loop plans in the presence of uncertainty. The plans are based on world models with set-valued uncertainty associated with the positions and shape of the obstacles. The open loop plans are generated by an efficient method that allows successive refinements of a nominal motion plan and accommodates finer levels of granularity as additional information becomes available. The closed loop plans are control policies that are based on given sensor models. The optimal plan is a control policy that performs the best in the worst-case situation. We discuss how the open loop and closed loop plans can be viewed as optimal strategies in the framework of two-person, zero-sum, non-cooperative games.
AB - We present a general framework for motion planning of robots in the presence of obstacles and other robots. W e use variational calculus and optimization to find optimal open loop and closed loop plans in the presence of uncertainty. The plans are based on world models with set-valued uncertainty associated with the positions and shape of the obstacles. The open loop plans are generated by an efficient method that allows successive refinements of a nominal motion plan and accommodates finer levels of granularity as additional information becomes available. The closed loop plans are control policies that are based on given sensor models. The optimal plan is a control policy that performs the best in the worst-case situation. We discuss how the open loop and closed loop plans can be viewed as optimal strategies in the framework of two-person, zero-sum, non-cooperative games.
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U2 - 10.1109/ROBOT.1998.677044
DO - 10.1109/ROBOT.1998.677044
M3 - Conference contribution
AN - SCOPUS:0031625667
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 638
EP - 643
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -