Generating Sparse Probabilistic Graphs for Efficient Planning in Uncertain Environments
Yasmin Veys,Martina Stadler Kurtz,Nicholas Roy,Yasmin Veys,Martina Stadler Kurtz,Nicholas Roy
Environments with regions of uncertain traversability can be modeled as roadmaps with probabilistic edges for efficient planning under uncertainty. We would like to generate roadmaps that enable planners to efficiently find paths with expected low costs through uncertain environments. The roadmap must be sparse so that the planning problem is tractable, but still contain edges that are likely to c...
