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Probabilistic Analysis of Manipulation Tasks: A Conceptual Framework
1996
The international journal of robotics research
This article addresses the problem of manipulation planning in the presence of uncertainty. We begin by reviewing the worst-case planning techniques introduced by Lozano-Pérez et al. (1984) and show that these methods are limited by an information gap inherent to worst-case analysis techniques. As the task uncertainty increases, these methods fail to produce useful information, even though a high-quality plan may exist. To fill this gap, we present the notion of a probabilistic backprojection,
doi:10.1177/027836499601500101
fatcat:peogjhul5jdl3exaudhst7qyry