108 search results - page 2 / 22 » Planning under uncertainty using model predictive control fo... |
IJRR
2008
13 years 5 months ago
2008
We develop a new motion planning algorithm for a variant of a Dubins car with binary left/right steering and apply it to steerable needles, a new class of flexible beveltip medica...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— This paper explores the planning and control of a manipulation task accomplished in conditions of high uncertainty. Statistical techniques, like particle filters, provide a fr...
IJRR
2011
13 years 13 days ago
2011
Abstract Partially observable Markov decision processes (POMDPs) are a principled mathematical framework for planning under uncertainty, a crucial capability for reliable operation...
IJRR
2011
12 years 9 months ago
2011
— This paper presents LQG-MP (linear-quadratic Gaussian motion planning), a new approach to robot motion planning that takes into account the sensors and the controller that will...
CDC
2009
IEEE
13 years 8 months ago
2009
IEEE
— This paper focuses on the design of a robust tube-based Model Predictive Control law for the control of constrained mobile robots. A time-varying trajectory tracking error mode...