Path Planning for Car-Like Robots using Towers of Uncertainties

The object of this paper is firstly to describe a safe path planning algorithm in an uncertain-configuration space named SATU*, based on one of the most used path planner, the A* algorithm, and to give its proofs of optimality and completeness. Secondly, it is to present an application of our algorithm to a mobile robotic problem, the way we tested the SATU* in a simulated environment close to the real environment and, through two examples of different situations, the advantages of the SATU* over a simple path planner as A*

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