English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper presents a new multi-layered algorithm for motion planning undermotion and sensing uncertainties for Linear Temporal Logic specifications. Wepropose a technique to guide a sampling-based search tree in the combined taskand belief space using trajectories from a simplified model of the system, tomake the problem computationally tractable. Our method eliminates the need toconstruct fine and accurate finite abstractions. We prove correctness andprobabilistic completeness of our algorithm, and illustrate the benefits of ourapproach on several case studies. Our results show that guidance with asimplified belief space model allows for significant speed-up in planning forcomplex specifications.

Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals using Simplified Belief Guides