Closed Loop Motion Plans for Mobile Robots
نویسندگان
چکیده
We discuss a game theoretic approach to the design of closed loop feedback laws to solve sensor based motion planning problems for mobile robots. Our approach provides a framework for dealing with environmental uncertainty, and, by explicitly accounting for the sensor dynamics, a formal way of combining exploratory and goal directed motions. We focus on methods of devising optimal feedback laws, using nite dimensional parameterizations, under the worst case uncertainty for several illustrative examples.
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