Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals using Simplified Belief Guides

  title={Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals using Simplified Belief Guides},
  author={Qi Heng Ho and Zachary Sunberg and Morteza Lahijanian},
This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to guide a sampling-based search tree in the combined task and belief space using trajectories from a simplified model of the system, to make the problem computationally tractable. Our method eliminates the need to construct fine and accurate finite abstractions. We prove correctness and probabilistic completeness of our… 

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