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Obstacle Avoidance and Proscriptive Bayesian Programming

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Document pages: 12 pages

Abstract: Unexpected events and not modeled properties of the robot environment are some ofthe challenges presented by situated robotics research field. Collision avoidance is a basic securityrequirement and this paper proposes a probabilistic approach called Bayesian Programming, whichaims to deal with the uncertainty, imprecision and incompleteness of the information handled tosolve the obstacle avoidance problem. Some examples illustrate the process of embodying theprogrammer preliminary knowledge into a Bayesian program and experimental results of theseexamples implementation in an electrical vehicle are described and commented. A video illustrationof the developed experiments can be found at http: www.inrialpes.fr sharp pub laplace

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