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Risky Planning on Probabilistic Costmaps for Path Planning in Outdoor Environments

Abstract:

This paper presents a framework for path planning over probabilistic costmaps of outdoor terrain that is compatible with fast grid-based planners such as A*and D*. We begin with an exemplar of how probabilistic costmaps may be constructed and then show how the a priori availability of such maps lends itself to the precomputation of exact probabilistic heuristics. In turn, the probabilistic nature of these heuristics allow the user to employ a bounded speed-accuracy tradeoff that characterizes...

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Publication status:
Published

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Publisher copy:
10.1109/TRO.2012.2227216

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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Role:
Author
Journal:
IEEE TRANSACTIONS ON ROBOTICS
Volume:
29
Issue:
2
Pages:
445-457
Publication date:
2013-04-05
DOI:
EISSN:
1941-0468
ISSN:
1552-3098
URN:
uuid:0b27828a-3fee-4102-8b4a-e2a41a46c8c9
Source identifiers:
405613
Local pid:
pubs:405613
Language:
English
Keywords:

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