Feedback Motion Planning Under Non-Gaussian Uncertainty and Non-Convex State Constraints

Mohammadhussein Rafieisakhaei, Amirhossein Tamjidi, Suman Chakravorty +1

Planning under process and measurement uncertainties is a challenging problem. In its most general form it can be modeled as a Partially Observed Markov Decision Process (POMDP) pr…