Multi-Sample Long Range Path Planning under Sensing Uncertainty for Off-Road Autonomous Driving
Matt Schmittle,Rohan Baijal,Brian Hou,Siddhartha Srinivasa,Byron Boots,Matt Schmittle,Rohan Baijal,Brian Hou,Siddhartha Srinivasa,Byron Boots
We focus on the problem of long-range dynamic replanning for off-road autonomous vehicles, where a robot plans paths through a previously unobserved environment while continuously receiving noisy local observations. An effective approach for planning under sensing uncertainty is determinization, where one converts a stochastic world into a deterministic one and plans under this simplification. Thi...
