Title :
Harmonic functions and collision probabilities
Author :
Connolly, Christopher I.
Author_Institution :
Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
Abstract :
This paper describes a relationship between harmonic functions (used for path planning) and work on randomization and learning in robotics. In short, the hitting probabilities for random walks can be cast as a Dirichlet problem for harmonic functions, in much the same way as in path planning. This equivalence has implications both for uncertainty in motion planning and in some robot learning problems
Keywords :
harmonic analysis; learning systems; probability; robots; Dirichlet problem; collision probabilities; harmonic functions; path planning; random walks; randomization; robot learning problems; Computer science; Grid computing; Laplace equations; Lattices; Motion planning; Orbital robotics; Path planning; Robots; Taylor series; Uncertainty;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351106
