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This book formulates an approach to planning in the
continuous parameterised approximations to
Theoretical and practical results are presented which
show that, when
compared with similar methods from the literature,
this approach is
capable of scaling to larger and more realistic problems.
The algorithms have been implemented and demonstrated
control of a mobile robot in a challenging navigation
show that this approach produces significantly more
when compared with heuristic planners which consider
only the most
likely states and outcomes.