Optimal path planning for uncertain exploration

  title={Optimal path planning for uncertain exploration},
  author={Andrew T. Klesh and Pierre T. Kabamba and Anouck R. Girard},
  journal={2009 American Control Conference},
Exploration always occurs in the presence of uncertainty. In this paper, we consider path planning for autonomous vehicles equipped with range-based sensors and traveling in an uncertain area. The mission of the vehicles is to explore a set of objects of interest while reducing uncertainty in object position, visibility and state. A connection is shown between the Kalman filter (used to reduce uncertainty) and the so-called Shannon model for exploration through the use of a range-based… CONTINUE READING
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