First full draft of the Scalable Belief Space planning with temporal logics.
The tool allows for:
Sampling of the state space:
Uniform sampling
Grid points sampling
Extending belief point set:
Uniform over all the nodes
Based on forward reachable sets
Pruning the alpha vectors:
Alpha vectors that are smaller are pruned away
The working of the toolbox can be checked tutorials:
RockSample
Two_regions
In comparison to the previous working version, this version ONLY includes the tools needed for BeLST. In the future, this needs to be extended to work with FIRM graphs in stead of with the current PRM graphs. Additionally, the edges on the current PRM graph need to come with barrier certificates to compute the probability of traversing them safely.
First full draft of the Scalable Belief Space planning with temporal logics. The tool allows for:
The working of the toolbox can be checked tutorials:
In comparison to the previous working version, this version ONLY includes the tools needed for BeLST. In the future, this needs to be extended to work with FIRM graphs in stead of with the current PRM graphs. Additionally, the edges on the current PRM graph need to come with barrier certificates to compute the probability of traversing them safely.