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Error Detection and Recovery for Robot Motion Planning with Uncertainty
(1987-07-01)
Robots must plan and execute tasks in the presence of uncertainty. Uncertainty arises from sensing errors, control errors, and uncertainty in the geometry of the environment. The last, which is called model error, has ...
Planning Robust Strategies for Constructing Multi-object Arrangements
(2017-01-30)
A crucial challenge in robotics is achieving reliable results in spite of sensing and control uncertainty. A prominent strategy for dealing with uncertainty is to construct a feedback policy, where actions are chosen as a ...