Belief Space Planning: a Covariance Steering Approach
Dongliang Zheng,Jack Ridderhof,Panagiotis Tsiotras,Ali-akbar Agha-mohammadi,Dongliang Zheng,Jack Ridderhof,Panagiotis Tsiotras,Ali-akbar Agha-mohammadi
A new belief space planning algorithm, called covariance steering Belief RoadMap (CS-BRM), is introduced, which is a multi-query algorithm for motion planning of dynamical systems under simultaneous motion and observation uncertainties. CS-BRM extends the probabilistic roadmap (PRM) approach to belief spaces and is based on the recently developed theory of covariance steering (CS) that enables gua...
