Evaluating motion strategies under nondeterministic or probabilistic uncertainties in sensing and control

Provides a method for characterizing future configurations under the implementation of a motion strategy in the presence of sensing and control uncertainties. We provide general techniques which can apply to either nondeterministic models of uncertainty (as typically considered in preimage planning research) or probabilistic models. Information-space concepts from modern control theory are utilized to define the notion of a strategy in this general context. We have implemented algorithms and show several computed examples that generalize the forward projection concepts from traditional literature in this area.