On the Probabilistic Completeness of the Sampling-based Feedback Motion Planners in Belief Space Conference Paper

abstract

• This paper extends the concept of "probabilistic completeness" defined for motion planners in state space (or configuration space) to the concept of "probabilistic completeness under uncertainty" for motion planners in belief space. Accordingly, an approach is proposed to verify the probabilistic completeness of the sampling-based planners in belief space. Finally, through the proposed approach, it is shown that under mild conditions the sampling-based methods constructed based on the abstract framework of FIRM (Feedback-based Information Roadmap Method) are probabilistically complete under uncertainty. 2012 IEEE.

name of conference

• 2012 IEEE International Conference on Robotics and Automation

authors

• Amato, Nancy
• Chakravorty, Suman

published proceedings

• 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)

author list (cited authors)

• Agha-mohammadi, A., Chakravorty, S., & Amato, N. M.

citation count

• 10

complete list of authors

• Agha-mohammadi, Ali-akbar||Chakravorty, Suman||Amato, Nancy M

publication date

• May 2012

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

Digital Object Identifier (DOI)

• 10.1109/icra.2012.6225062

International Standard Book Number (ISBN) 13

• 9781467314039

start page

• 3983

end page

• 3990

URL

• http://dx.doi.org/10.1109/icra.2012.6225062