Act, Perceive, and Plan in Belief Space for Robot Localization
Michele Colledanchise,Damiano Malafronte,Lorenzo Natale,Michele Colledanchise,Damiano Malafronte,Lorenzo Natale
In this paper, we outline an interleaved acting and planning technique to rapidly reduce the uncertainty of the estimated robot's pose by perceiving relevant information from the environment, as recognizing an object or asking someone for a direction. Generally, existing localization approaches rely on low-level geometric features such as points, lines, and planes. While these approaches provide t...
