Probabilistic Planning for Continuous Dynamic Systems under Bounded Risk

@article{Ono2013ProbabilisticPF,
  title={Probabilistic Planning for Continuous Dynamic Systems under Bounded Risk},
  author={Masahiro Ono and Brian C. Williams and Lars Blackmore},
  journal={J. Artif. Intell. Res.},
  year={2013},
  volume={46},
  pages={511-577}
}
This paper presents a model-based planner called the Probabilistic Sulu Planner or the p-Sulu Planner, which controls stochastic systems in a goal directed manner within user-specified risk bounds. The objective of the p-Sulu Planner is to allow users to command continuous, stochastic systems, such as unmanned aerial and space vehicles, in a manner that is both intuitive and safe. To this end, we first develop a new plan representation called a chance-constrained qualitative state plan (CCQSP… CONTINUE READING
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