Online Replanning in Belief Space for Dynamical Systems: Towards Handling Discrete Changes of Goal Location

This paper presents an online planning/replanning strategy for dynamical systems, in the presence of uncertainty. Online replanning capability allows us to handle discrete changes in the goal location. Multi-query graph-based methods, such as PRM in the deterministic setting, and FIRM in the stochastic setting, are suitable frameworks to serve this purpose. However, in these methods, local planners (along the edges) are responsible to drive the state/belief to the final node of the edge. Nevertheless, for dynamical systems, driving the system belief to a sampled belief is a challenge. In this paper, we provide an overview of the FIRM strategy that extends PRM-based planning to belief space, and sketch the application of it to dynamical/non-stoppable systems where the belief is stabilized to an orbit (periodic path) in belief space instead of a point. The method takes obstacles into account, while it provides a query-independent graph, as a means for online replanning.