Proceedings PaperImpact of uncertain terrain models on the weighted region problem
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Outdoor navigation is characterized by motions through regions of varied terrain. The weighted region problem (WRP) is a generalization of the obstacle avoidance problem with 1/oo cost structure. By assigning indices to surface patches proportional to their traversability WRP seeks a path with the shortest length in the weighted sense. This work generalizes the WRP paradigm by stating that the traversability indices may only be available through a probability distribution. The reported indices therefore are not an exact description of the terrain rather they are an observation drawn from their respective distributions. Development of a decision basis directing the search is an objective of this paper.