Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals using Simplified Belief Guides
Qi Heng Ho,Zachary N. Sunberg,Morteza Lahijanian,Qi Heng Ho,Zachary N. Sunberg,Morteza Lahijanian
This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to guide a sampling-based search tree in the combined task and belief space using trajectories from a simplified model of the system, to make the problem computationally tractable. Our method eliminates the need to construct f...
