{"type":"ScholarlyArticle","title":"Vision-Motion Planning of a Mobile Robot considering Vision Uncertainty and Planning Cost","authors":[{"name":"Jun Miura","slug":"jun-miura","given":"Jun","family":"Miura","affiliation":""},{"name":"Yoshiaki Shirai","slug":"yoshiaki-shirai","given":"Yoshiaki","family":"Shirai","affiliation":""}],"abstract":"This paper proposes a planning method for a vision-guided mobile robot und er vision uncertainty and limited computational resources. The method considers the following two tradeoff's: (1) granularity in approximating a probabilistic distribution vs. plan quality, and (2) search depth vs . plan quality. Th e first tradeoff is managed by predicting the plan quality for a granularity using a learned relationship between them, and by adaptively selecting the best granularity. The second trade-off is managed by formulating the planning process as a search in the space of feasible plans , and by appropriately limiting the search considering the merit of each step of the search . Simulation r esults and experiments using a real robot show the feasibility of the method.","doi":null,"url":"https://ijcai.org/proceedings/1997/172","pdf":"https://ijcai.org/proceedings/1997/0172.pdf","markdown":"https://ijcai.org/proceedings/1997/172.md","bibtex":"https://ijcai.org/proceedings/1997/bibtex/172","volume":{"slug":"1997","title":"Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1997","url":"https://ijcai.org/proceedings/1997/","year":1997,"location":"Nagoya, Japan","dates":"","editors":"Martha E. Pollack","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Planning and Scheduling","track":"Planning and Scheduling","number":172,"pages":{"first":1194,"last":1199},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}