Harmonic functions and collision probabilities

Author

Connolly, Christopher I.

Author_Institution

Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA

fYear

1994

fDate

8-13 May 1994

Firstpage

3015

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.351106

Filename

351106

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2330216