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Motion Planning With Uncertainty

1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, pp.638-643, (1998)

Cited: 43|Views4
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Abstract

We present a general framework for motion planning of robots in the presence of obstacles and other robots. We 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 ...More

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