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Path planning in belief space with pose SLAM
2011
2011 IEEE International Conference on Robotics and Automation
The probabilistic belief networks that result from standard feature-based simultaneous localization and map building cannot be directly used to plan trajectories. The reason is that they produce a sparse graph of landmark estimates and their probabilistic relations, which is of little value to find collision free paths for navigation. In contrast, we argue in this paper that Pose SLAM graphs can be directly used as belief roadmaps. We present a method that devises optimal navigation strategies
doi:10.1109/icra.2011.5979742
dblp:conf/icra/ValenciaAP11
fatcat:2cce5pyryjbg7b6bbttawf4gle