Motion planning with uncertainty: Practical computation of non-maximal preimages

J. C. Latombe, A. Lazanas, S. Shekhar

Research output: Contribution to journalConference articlepeer-review

1 Scopus citations


We address the problem of planning robot motions in a two-dimensional configuration space in the presence of uncertainty in both control and sensing. We consider the preimage blackchaning approch to this problem, which was first proposed by Lonno-Pérez-, Mason and Taylor (1981). We describe two practical techniques for computing preimages. One technique, which we call lmckprojeclion fr-om sticking edges, was originated by Donald (1988). The other, which we call backprojection from qoal krnwl, Wits oriRinated by Latombe (1988). Both techniques procced by separating two hasic issues in prcirnagc computation: goal rcachability and goal recognizability. They both make use of the notion of backprojection, a concept developed by Erdmann (1984 ). The second technique presents significant advantages over the first, but the two techniques can be combined in order to draw the best of each. A motion planner based on the second technique h<ts been implemented.

Original languageEnglish
Article number637927
Pages (from-to)339-348
Number of pages10
JournalIEEE International Conference on Intelligent Robots and Systems
StatePublished - 1 Jan 1989
Externally publishedYes
Event1989 IEEE/RSJ International Workshop on Intelligent Robots and Systems, IROS 1989 - Tsukuba, Japan
Duration: 4 Sep 19896 Sep 1989

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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