MINIMUM COST PATH SEARCH IN AN UNCERTAIN-CONFIGURATION SPACE

Eric Pierre, Romain Pepy

2007

Abstract

The object of this paper is to propose a minimum cost path search algorithm in an uncertain-configuration space and to give its proofs of optimality and completeness. In order to achieve this goal, we focus on one of the simpler and efficient path search algorithm in the configuration space : the A* algorithm. We then add uncertainties and deal with them as if they were simple dof (degree of freedom). Next, we introduce towers of uncertainties in order to improve the efficiency of the search. Finally we prove the optimality and completeness of the resulting algorithm.

Paper Citation

in Harvard Style

Pierre E. and Pepy R. (2007). MINIMUM COST PATH SEARCH IN AN UNCERTAIN-CONFIGURATION SPACE . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 103-109. DOI: 10.5220/0001645301030109

in Bibtex Style

@conference{icinco07,
author={Eric Pierre and Romain Pepy},
title={MINIMUM COST PATH SEARCH IN AN UNCERTAIN-CONFIGURATION SPACE},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={103-109},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001645301030109},
isbn={978-972-8865-83-2},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - MINIMUM COST PATH SEARCH IN AN UNCERTAIN-CONFIGURATION SPACE
SN - 978-972-8865-83-2
AU - Pierre E.
AU - Pepy R.
PY - 2007
SP - 103
EP - 109
DO - 10.5220/0001645301030109