Motion planning with uncertainty

Hong Zhang, V. Kumar, J. Ostrowski

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

17 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages638-643
Number of pages6
ISBN (Print)078034300X
DOIs
Publication statusPublished - Jan 1 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: May 16 1998May 20 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Other

Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period5/16/985/20/98

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All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Zhang, H., Kumar, V., & Ostrowski, J. (1998). Motion planning with uncertainty. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 638-643). [677044] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.677044