Gaussian Belief Trees for Chance Constrained Asymptotically Optimal Motion Planning
Qi Heng Ho,Zachary N. Sunberg,Morteza Lahijanian,Qi Heng Ho,Zachary N. Sunberg,Morteza Lahijanian
In this paper, we address the problem of sampling-based motion planning under motion and measurement un-certainty with probabilistic guarantees. We generalize traditional sampling-based, tree-based motion planning algorithms for deterministic systems and propose belief-A, a framework that extends any kinodynamical tree-based planner to the belief space for linear (or linearizable) systems. We intr...
