NDLI: Robust belief roadmap: Planning under uncertain and intermittent sensing

Content Provider	IEEE Xplore Digital Library
Author	Bopardikar, S.D. Englot, B. Speranzon, A.
Copyright Year	2014
Abstract	This paper considers the problem of planning a path for an autonomous vehicle from a start to a goal location in presence of sensor intermittency modeled as a stochastic process, in addition to process and measurement noise. The aim is to plan a path that minimizes the localizational uncertainty for the vehicle upon arriving at the goal location. The main contribution of this paper is two-fold. We first show that it is possible to obtain an analytical bound on the performance of a state estimator under sensor misdetection (intermittency) occurring stochastically over time. We then use this bound in a sample-based path planning algorithm to produce a path that trades off accuracy and robustness. This extends the recent body of work on planning under uncertainty to include the fact that sensors may not provide any measurement owing to misdetection. This is caused either by adverse environmental conditions that prevent the sensors from making measurements or by the fundamental limitations of the sensors. Examples include RF-based ranging devices that intermittently do not receive the signal from beacons because of obstacles or the misdetection of features by a camera system in detrimental lighting conditions. Computational results demonstrate the benefit of the approach and comparisons are made with the state of the art in path planning in belief space.
Starting Page	6122
Ending Page	6129
File Size	1578958
Page Count	8
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907761
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Uncertainty Noise Path planning Eigenvalues and eigenfunctions Robustness Localization Belief space planning Autonomous systems
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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