Learning-informed Long-Horizon Navigation under Uncertainty for Vehicles with Dynamics

Long-horizon navigation for vehicles with dynamics is challenging under uncertainty, where a planner must make decisions with incomplete knowledge of the environment while still respecting the vehicle’s dynamic constraints. This paper integrates learning-informed decision-making with long-horizon planning to guide navigation under uncertainty for vehicles with dynamics, improving planning performance over classical approaches that do not reason about long-horizon uncertainty.

Citation: Abhish Khanal, Hoang-Dung Bui, Erion Plaku, Gregory J. Stein (2024). "Learning-informed Long-Horizon Navigation under Uncertainty for Vehicles with Dynamics." IROS 2024. https://ieeexplore.ieee.org/abstract/document/10801880