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SLAP: Simultaneous Localization and Planning Under Uncertainty for Physical Mobile Robots via Dynamic Replanning in Belief Space: Extended version
[article]
2018
arXiv
pre-print
Simultaneous localization and Planning (SLAP) is a crucial ability for an autonomous robot operating under uncertainty. In its most general form, SLAP induces a continuous POMDP (partially-observable Markov decision process), which needs to be repeatedly solved online. This paper addresses this problem and proposes a dynamic replanning scheme in belief space. The underlying POMDP, which is continuous in state, action, and observation space, is approximated offline via sampling-based methods,
arXiv:1510.07380v3
fatcat:ijsimq3tsbhq7cbypgmqufypre