gjh

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About gjh

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So far gjh has created 3 blog entries.

Risky Planning: Path Planning over Costmaps with a Probabilistically Bounded Speed-Accuracy Tradeoff

Abstract— This paper is about generating plans over uncertain maps quickly. Our approach combines the ALT (A* search, landmarks and the triangle inequality) algorithm and risk heuristics to guide search over probabilistic cost maps. We build on previous work which generates probabilistic cost maps from aerial imagery and use these cost maps to precompute heuristics [...]