Accommodating Uncertainty in Covert and Overt Robot Path Planning

In this paper, the notion of probabilities has been introduced to plan a visibility-based path to cope with real-world uncertainties. A mobile robot needs to either minimize (covert) or maximize (overt) its exposure to an initially known or suspected entities´ positions. Those positions can be inaccurately estimated or have the possibility of change as the entities may move unpredictably. Promising results have been shown when testing the planning technique on a simulated environment. A number of test cases are presented for both covert and overt applications.