Class 12 (Wednesday, February 16) : MOTION
PLANNING WITH UNCERTAINTY
Topics:
- Sources of uncertainty
- Preimage backchaining
- Error detection and recovery
Required Readings:
Preimage backchaining:
A. Lazanas and J.C. Latombe.
Landmark-Based Robot Navigation.
Algorithmica, 13:472-501, 1995
(ps file).
Error detection and recovery:
B.R. Donald. A Geometric Approach to Error Detection and Recovery for
Robot Motion Planning with Uncertainty.
Artificial Intelligence, 37(1-3):223-271, 1998.
Other Readings:
Paper introducing preimage backchaining:
T. Lozano-Perez, M.T. Mason, and R.H. Taylor.
Automatic Synthesis of Fine-Motion Strategies for Robots.
International Journal of Robotics Research, 3(1):3-24, 1984