## Information Spaces for Mobile Robots

Benjamin Tovar, Anna Yershova, **Jason M. O'Kane**, Steven M. LaValle

In *Proc. International Workshop on Robot Motion and Control*

2005
**Abstract**
Planning with sensing uncertainty is central to robotics. Often,
sensor limitations prevent accurate state estimation of the
robot. To solve robotics tasks given such sensing uncertainty two
general approaches are usually taken. The first approach is to
estimate the state first and to solve the given task next using the
estimated state information. Hovewer, estimation of the state may
sometimes be harder than solving the original task. The other
approach is to avoid estimating of the state, solving the task based
only on sensor information that comes to robot. These
approaches can be further generalized, by defining the
information space, the space of all the histories of actions and
sensors of the robot. All possible solutions to the given task lie
in this space, including the solutions given by the above two
approaches. Considering information spaces brings better
understanding of the problems involving uncertainty, and also allows
finding better solutions to such problems.

@inproceedings{TovYer+05,
author = {Benjamin Tovar and Anna Yershova and Jason M. O'Kane and Steven M.
LaValle},
booktitle = {Proc. International Workshop on Robot Motion and Control},
title = {Information Spaces for Mobile Robots},
year = {2005}
}

*Last updated 2021-12-14.*