The efficient computation of uncertainty spaces for sensor-based robot planning

R. H. Taylor, V. T. Rajan

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations


This paper describes methods for propogating systems of constrained variables, which may represent geometric uncertainties, sensing errors, disturbance forces, or other variations, through equations describing coordinate transformations in the task domain and for projecting the resulting large linear system onto a lower-dimensional space representing specific variations of interest for a particular problem. We have implemented a system based on these methods. We describe the mathematical representation, briefly describe two projection algorithms; and present a number of examples applying our implementation to robot task planning problems.

Original languageEnglish (US)
Article number593281
Pages (from-to)231-236
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
StatePublished - 1988
Externally publishedYes
Event1988 IEEE International Workshop on Intelligent Robots and Systems: Toward the Next Generation Robot and System, IROS 1988 - Tokyo, Japan
Duration: Oct 31 1988Nov 2 1988

ASJC Scopus subject areas

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


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