论文标题
通过事件触发的估计，偶然受限的运动计划
Chance-Constrained Motion Planning with Event-Triggered Estimation
论文作者
论文摘要
我们使用遥控传感器网络中有限的信息来考虑自动导航的问题。由于遥控传感器是功率和带宽有限的，因此我们使用事件触发的（ET）估计来管理通信成本。我们介绍了一个基于快速抽样的计划者，该计划者计算运动计划以及ET通信策略，以最大程度地降低通信成本，同时满足了达到目标区域的概率和碰撞的概率的限制。我们得出了一种新颖的方法，用于离线传播预期状态分布，并在此分布上相应的界限。这些界限用于评估算法中的机会约束。案例研究确定了我们方法的有效性，证明了最佳计划的快速计算。
We consider the problem of autonomous navigation using limited information from a remote sensor network. Because the remote sensors are power and bandwidth limited, we use event-triggered (ET) estimation to manage communication costs. We introduce a fast and efficient sampling-based planner which computes motion plans coupled with ET communication strategies that minimize communication costs, while satisfying constraints on the probability of reaching the goal region and the point-wise probability of collision. We derive a novel method for offline propagation of the expected state distribution, and corresponding bounds on this distribution. These bounds are used to evaluate the chance constraints in the algorithm. Case studies establish the validity of our approach, demonstrating fast computation of optimal plans.
