Various examples and implementations of belief space planning

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point: Ideas first tested in canonical light-dark example. NOT MAINTAINED

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Experiments for WAFR 2014 submission

arm: For a 6-DOF arm and a fixed camera, finds path from start to end that minimizes uncertainty

parameter: For a dynamical system with unknown parameters, finds control inputs that determines the unknown parameters efficiently

slam: For a car and landmarks, finds a path that minimizes uncertainty about both the car and landmark positions while reaching specified waypoints

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ONGOING: exploring non-parametric methods, namely particle filters

point-pf: Uncertainty about robot represented by particles, optimize directly over them

pf: Uncertainty about something in the environment

explore: agents seek a target object located randomly in an environment

boxes: agent goal is to localize the position of box(es)

eih: eye-in-hand, localize an object with a kinect like sensor on an end effector

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The code is not suitable for public consumption yet in its current form. If you are interested in using it, please send Greg (gkahn [at] berkeley.edu) an email saying that you would like to use the code and what you plan to do with it, and we will try to help you out.