Title :
The evaluation of strategies in motion planning with uncertainty
Author :
Marion, J.L. ; Rodriguez, C. ; de Rougemont, M.
Author_Institution :
Lab. de Recherche en Inf., Univ. de Paris-Sud, Orsay, France
Abstract :
Studies motion strategies for a mobile robot moving with uncertainty using various sensors. A colored graph represents a sensory space where sensor measurements define the node´s color and the authors traverse the graph with probabilistic transitions. The authors first show how to construct such graphs for geometrical scenes and various sensors, and then study the complexity of evaluating the robustness of deterministic and probabilistic strategies. The authors show upper and lower bounds for Markov, time-dependent and history-dependent strategies. In the case of finite memory, it is shown that randomized strategies are better than deterministic ones
Keywords :
Markov processes; graph colouring; mobile robots; path planning; probability; Markov strategies; colored graph; deterministic strategies; finite memory; geometrical scenes; history-dependent strategies; mobile robot; motion planning; motion strategies; probabilistic strategies; probabilistic transitions; randomized strategies; robustness; sensory space; time-dependent strategies; uncertainty; Extraterrestrial measurements; Layout; Mechanical sensors; Mobile robots; Motion planning; Robot sensing systems; Robustness; Solid modeling; Strategic planning; Uncertainty;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351377