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This article is a first step in the direction of extending possibilistic planning to account for incomplete and imprecise knowledge of the world state. Fundamental definitions are given and the possibilistic planning problem is recast in this new setting. Finally, it is shown that, under certain conditions, possibilistic planning with imprecise and incomplete state descriptions is no harder tha...

We describe the CMU Sidewalk Navigation System, which can drive a vehicle in the outdoor environment of the CMU campus. The system includes all modules necessary for outdoor navigation .. modules for route planning, local path planning, vehicle driving, perception, and map data. The perception module uses sensor fusion with color and rage data to analyze complex outdoor scenes accurately and ef...