Planning of vision and motion for a mobile robot using a probabilistic model of uncertainty
- 9 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 403-408 vol.1
- https://doi.org/10.1109/iros.1991.174483
Abstract
The authors propose a framework of unified planning of vision and motion with uncertainty. They use a probabilistic model to represent uncertainty and use statistical decision theory to make a unified plan of vision and motion. They describe a method of predicting the information acquired by a sensing operation and formulate the planning problem in a recurrence formula. They analyze vision-motion planning problem in a simple example and conclude that the combination of dynamic programming and hill-climbing is useful. Simulation results show the validity of the approach.Keywords
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