Robust belief roadmap: Planning under uncertain and intermittent sensing

Shaunak D. Bopardikar, Brendan Englot, Alberto Speranzon

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages6122-6129
Number of pages8
ISBN (Electronic)9781479936854, 9781479936854
DOIs
StatePublished - 22 Sep 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period31/05/147/06/14

Keywords

  • Autonomous systems
  • Belief space planning
  • Localization
  • Path planning

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