Robust path planning in the plane

This work presents an approach to plan motion strategies for robotics tasks constrained by uncertainty in position, orientation, and control. Our approach operates in a (x, y, θ) configuration space and it combines two local functions: a contact-based attraction function and an exploration function. Compliant motions are used to reduce the position/orientation uncertainty. An explicit geometric model for the uncertainty is defined to evaluate the reachability of the obstacle surfaces when the robot translates in free space