Closed-loop belief space planning for linear, Gaussian systems

  title={Closed-loop belief space planning for linear, Gaussian systems},
  author={Michael P. Vitus and Claire J. Tomlin},
  journal={2011 IEEE International Conference on Robotics and Automation},
This paper considers the problem of motion planning for linear, Gaussian systems, and extends existing chance constrained optimal control solutions [1], [2] by incorporating the closed-loop uncertainty of the system and by reducing the conservativeness in the constraints. Due to the imperfect knowledge of the system state caused by motion uncertainty and sensor noise, the constraints cannot be guaranteed to be satisfied and consequently must be considered probabilistically. In this work, they… CONTINUE READING
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