نسخة أولية وصول مفتوح
BLT*: Informed Belief Localization Trees for Uncertainty-Aware Planning on Digital Twins
We present Informed Belief Localization Trees* (Informed BLT*), a sampling-based belief space planning (BSP) algorithm that scales to large outdoor digital twins with point-cloud observations. We adapt RRT* and Informed RRT* to belief space using the $2$-Wasserstein ($W_2$) metric. Assuming isotropic Gaussian beliefs, …