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Authors: Eric Pierre and Romain Pepy

Affiliation: Institut d’E´ lectronique Fondamentale, Université Paris XI, France

ISBN: 978-972-8865-83-2

Keyword(s): Path planning, uncertainty, A* algorithm.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: The object of this paper is to propose a minimum cost path search algorithm in an uncertain-configuration space and to give its proofs of optimality and completeness. In order to achieve this goal, we focus on one of the simpler and efficient path search algorithm in the configuration space : the A* algorithm. We then add uncertainties and deal with them as if they were simple dof (degree of freedom). Next, we introduce towers of uncertainties in order to improve the efficiency of the search. Finally we prove the optimality and completeness of the resulting algorithm.

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Paper citation in several formats:
Pierre E.; Pepy R. and (2007). MINIMUM COST PATH SEARCH IN AN UNCERTAIN-CONFIGURATION SPACE.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 103-109. DOI: 10.5220/0001645301030109

@conference{icinco07,
author={Eric Pierre and Romain Pepy},
title={MINIMUM COST PATH SEARCH IN AN UNCERTAIN-CONFIGURATION SPACE},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={103-109},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001645301030109},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - MINIMUM COST PATH SEARCH IN AN UNCERTAIN-CONFIGURATION SPACE
SN - 978-972-8865-83-2
AU - Pierre, E.
AU - Pepy, R.
PY - 2007
SP - 103
EP - 109
DO - 10.5220/0001645301030109

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