IBBT: Informed Batch Belief Trees for Motion Planning Under Uncertainty
Dongliang Zheng,Panagiotis Tsiotras,Dongliang Zheng,Panagiotis Tsiotras
In this work, we propose the Informed Batch Belief Trees (IBBT) algorithm for motion planning under motion and sensing uncertainties. The original stochastic motion planning problem is divided into a deterministic motion planning problem and a graph search problem. First, we solve the deterministic planning problem using Rapidly-exploring Random Graph (RRG) to construct a nominal trajectory graph....
