22 citations · 29 across the 9 of their papers we have counts for
3 papers · 1 filter
Motion Planning for Global Localization in Non-Gaussian Belief Spaces
Saurav Agarwal, Amirhossein Tamjidi, Suman Chakravorty
This paper presents a method for motion planning under uncertainty to deal with situations where ambiguous data associations result in a multimodal hypothesis on the robot state. I…
SLAP: Simultaneous Localization and Planning Under Uncertainty for Physical Mobile Robots via Dynamic Replanning in Belief Space: Extended version
Ali-akbar Agha-mohammadi, Saurav Agarwal, Sung-Kyun Kim +2
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 (p…
Motion Planning in Non-Gaussian Belief Spaces (M3P): The Case of a Kidnapped Robot
Saurav Agarwal, Amirhossein Tamjidi, Suman Chakravorty
Planning under uncertainty is a key requirement for physical systems due to the noisy nature of actuators and sensors. Using a belief space approach, planning solutions tend to gen…