Non-Gaussian belief space planning: Correctness and complexity

  title={Non-Gaussian belief space planning: Correctness and complexity},
  author={Robert Platt and Leslie Pack Kaelbling and Tom{\'a}s Lozano-P{\'e}rez and Russ Tedrake},
  journal={2012 IEEE International Conference on Robotics and Automation},
We consider the partially observable control problem where it is potentially necessary to perform complex information-gathering operations in order to localize state. One approach to solving these problems is to create plans in belief-space, the space of probability distributions over the underlying state of the system. The belief-space plan encodes a strategy for performing a task while gaining information as necessary. Unlike most approaches in the literature which rely upon representing… CONTINUE READING
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