Simultaneous Localization and Planning for Physical Mobile Robots via Enabling Dynamic Replanning in Belief Space

@article{Aghamohammadi2015SimultaneousLA,
  title={Simultaneous Localization and Planning for Physical Mobile Robots via Enabling Dynamic Replanning in Belief Space},
  author={Ali-akbar Agha-mohammadi and Saurav Agarwal and Suman Chakravorty and Nancy M. Amato},
  journal={CoRR},
  year={2015},
  volume={abs/1510.07380}
}
Simultaneous planning while localizing is a crucial ability for an autonomous robot operating under uncertainty. This paper addresses this problem by designing methods to dynamically replan while the localization uncertainty or environment map is updated. In particular, relying on sampling-based methods, the proposed online planning scheme can cope with challenging situations, including when the localization update or changes in the environment alter the homotopy class of trajectories, in which… CONTINUE READING
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