FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2897946272> ?p ?o ?g. }

• W2897946272 endingPage "1214" @default.
• W2897946272 startingPage "1195" @default.
• W2897946272 abstract "Simultaneous localization and planning (SLAP) is a crucial ability for an autonomous robot operating under uncertainty. In its most general form, SLAP induces a continuous partially observable Markov decision process (POMDP), which needs to be repeatedly solved online. This paper addresses this problem and proposes a dynamic replanning scheme in belief space. The underlying POMDP, which is continuous in state, action, and observation space, is approximated offline via sampling-based methods, but operates in a replanning loop online to admit local improvements to the coarse offline policy. This construct enables the proposed method to combat changing environments and large localization errors, even when the change alters the homotopy class of the optimal trajectory. It further outperforms the state-of-the-art Feedback-based Information RoadMap (FIRM) method by eliminating unnecessary stabilization steps. Applying belief space planning to physical systems brings with it a plethora of challenges. A key focus of this paper is to implement the proposed planner on a physical robot and show the SLAP solution performance under uncertainty, in changing environments and in the presence of large disturbances, such as a kidnapped robot situation." @default.
• W2897946272 created "2018-10-26" @default.
• W2897946272 creator A5019692184 @default.
• W2897946272 creator A5042186658 @default.
• W2897946272 creator A5050205557 @default.
• W2897946272 creator A5061286389 @default.
• W2897946272 creator A5088439425 @default.
• W2897946272 date "2018-10-01" @default.
• W2897946272 modified "2023-09-24" @default.
• W2897946272 title "SLAP: Simultaneous Localization and Planning Under Uncertainty via Dynamic Replanning in Belief Space" @default.
• W2897946272 cites W1176413013 @default.
• W2897946272 cites W1498000886 @default.
• W2897946272 cites W153294671 @default.
• W2897946272 cites W1826354755 @default.
• W2897946272 cites W1937587174 @default.
• W2897946272 cites W1971355878 @default.
• W2897946272 cites W1972624884 @default.
• W2897946272 cites W1977532666 @default.
• W2897946272 cites W1988314515 @default.
• W2897946272 cites W2002201291 @default.
• W2897946272 cites W2010780110 @default.
• W2897946272 cites W2033051917 @default.
• W2897946272 cites W2034725503 @default.
• W2897946272 cites W2053833381 @default.
• W2897946272 cites W2055921164 @default.
• W2897946272 cites W2070683816 @default.
• W2897946272 cites W2073787051 @default.
• W2897946272 cites W2087179560 @default.
• W2897946272 cites W2097856935 @default.
• W2897946272 cites W2122561468 @default.
• W2897946272 cites W2128990851 @default.
• W2897946272 cites W2132714442 @default.
• W2897946272 cites W2133361850 @default.
• W2897946272 cites W2143864104 @default.
• W2897946272 cites W2144913588 @default.
• W2897946272 cites W2146001329 @default.
• W2897946272 cites W2156676156 @default.
• W2897946272 cites W2164429173 @default.
• W2897946272 cites W2168359464 @default.
• W2897946272 cites W2168992242 @default.
• W2897946272 cites W3101822862 @default.
• W2897946272 cites W4246226690 @default.
• W2897946272 doi "https://doi.org/10.1109/tro.2018.2838556" @default.
• W2897946272 hasPublicationYear "2018" @default.
• W2897946272 type Work @default.
• W2897946272 sameAs 2897946272 @default.
• W2897946272 citedByCount "26" @default.
• W2897946272 countsByYear W28979462722019 @default.
• W2897946272 countsByYear W28979462722020 @default.
• W2897946272 countsByYear W28979462722021 @default.
• W2897946272 countsByYear W28979462722022 @default.
• W2897946272 crossrefType "journal-article" @default.
• W2897946272 hasAuthorship W2897946272A5019692184 @default.
• W2897946272 hasAuthorship W2897946272A5042186658 @default.
• W2897946272 hasAuthorship W2897946272A5050205557 @default.
• W2897946272 hasAuthorship W2897946272A5061286389 @default.
• W2897946272 hasAuthorship W2897946272A5088439425 @default.
• W2897946272 hasConcept C105795698 @default.
• W2897946272 hasConcept C106189395 @default.
• W2897946272 hasConcept C111919701 @default.
• W2897946272 hasConcept C11413529 @default.
• W2897946272 hasConcept C121332964 @default.
• W2897946272 hasConcept C126255220 @default.
• W2897946272 hasConcept C127413603 @default.
• W2897946272 hasConcept C1276947 @default.
• W2897946272 hasConcept C133731056 @default.
• W2897946272 hasConcept C13662910 @default.
• W2897946272 hasConcept C154945302 @default.
• W2897946272 hasConcept C159886148 @default.
• W2897946272 hasConcept C17098449 @default.
• W2897946272 hasConcept C19966478 @default.
• W2897946272 hasConcept C2776999362 @default.
• W2897946272 hasConcept C2778572836 @default.
• W2897946272 hasConcept C33923547 @default.
• W2897946272 hasConcept C41008148 @default.
• W2897946272 hasConcept C48103436 @default.
• W2897946272 hasConcept C72434380 @default.
• W2897946272 hasConcept C81074085 @default.
• W2897946272 hasConcept C90509273 @default.
• W2897946272 hasConceptScore W2897946272C105795698 @default.
• W2897946272 hasConceptScore W2897946272C106189395 @default.
• W2897946272 hasConceptScore W2897946272C111919701 @default.
• W2897946272 hasConceptScore W2897946272C11413529 @default.
• W2897946272 hasConceptScore W2897946272C121332964 @default.
• W2897946272 hasConceptScore W2897946272C126255220 @default.
• W2897946272 hasConceptScore W2897946272C127413603 @default.
• W2897946272 hasConceptScore W2897946272C1276947 @default.
• W2897946272 hasConceptScore W2897946272C133731056 @default.
• W2897946272 hasConceptScore W2897946272C13662910 @default.
• W2897946272 hasConceptScore W2897946272C154945302 @default.
• W2897946272 hasConceptScore W2897946272C159886148 @default.
• W2897946272 hasConceptScore W2897946272C17098449 @default.
• W2897946272 hasConceptScore W2897946272C19966478 @default.
• W2897946272 hasConceptScore W2897946272C2776999362 @default.
• W2897946272 hasConceptScore W2897946272C2778572836 @default.
• W2897946272 hasConceptScore W2897946272C33923547 @default.
• W2897946272 hasConceptScore W2897946272C41008148 @default.
• W2897946272 hasConceptScore W2897946272C48103436 @default.

• next