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Planning of vision and motion for a mobile robot using a probabilistic model of uncertainty

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2 Author(s)
Miura, J. ; Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan ; Shirai, Y.

The authors propose a framework of unified planning of vision and motion with uncertainty. They use a probabilistic model to represent uncertainty and use statistical decision theory to make a unified plan of vision and motion. They describe a method of predicting the information acquired by a sensing operation and formulate the planning problem in a recurrence formula. They analyze vision-motion planning problem in a simple example and conclude that the combination of dynamic programming and hill-climbing is useful. Simulation results show the validity of the approach

Published in:

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Date of Conference:

3-5 Nov 1991