Class 11 (May 8) : MOTION
PLANNING WITH UNCERTAINTY
- Topics:
- Sources of uncertainty
- Preimage backchaining
- Error detection and recovery
- Required Readings:
- Preimage backchaining for mobile robots:
A. Lazanas and J.C. Latombe.
Landmark-Based Robot Navigation.
Algorithmica, 13:472-501, 1995.
ps file
- Error detection and recovery:
B.R. Donald. A Geometric Approach to Error Detection and Recovery for
Robot Motion Planning with Uncertainty.
Artificial Intelligence, 37(1-3):223-271, 1988.
- Other Readings:
- The paper that introduced preimage backchaining:
T. Lozano-Perez, M.T. Mason, and R.H. Taylor.
Automatic Synthesis of Fine-Motion Strategies for Robots.
Int. J. Robotics Research, 3(1):3-24, 1984.
Powerpoint slides: