This paper outlines a method for planning motions in the presence of uncertainty. Tasks are modelled as geometrical goals in configuration space. The planning process consists of determining regions from which particular motions are guaranteed to successfully reach a desired goal. An algorithm is presented for backprojecting from desired goal states. The backprojection regions are computed by erecting constraints that geometrically capture the uncertainty in motion.
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M. Erdmann (2005) studied this question.
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