Accommodating Uncertainty in Covert and Overt Robot Path Planning
Mohamed Marzouqi, Ray A. Jarvis · 2005
In this paper, the notion of probabilities has been introduced to plan a visibility-based path to cope with real-world uncertainties. A mobile robot needs to either minimize (covert) or maximize (overt) its exposure to an initially known or suspected entities' positions. Those positions can be inaccurately estimated or have the possibility of change as the entities may move unpredictably. Promising results have been shown when testing the planning technique on a simulated environment. A number of test cases are presented for both covert and overt applications.