LQGMP Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information Jur van den Berg Pieter Abbeel Ken Goldberg Abstract This paper presents LQGMP linearquadratic Gaussi
LQG MP is based on the linearquadratic controller with Gaussia models of uncertainty and explicitly characterizes in adv ance ie before execution the apriori probability distrib utions of the state of the robot along its path These distributions can
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