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. Author manuscript; available in PMC: 2017 Apr 1.
Published in final edited form as: IEEE Trans Autom Sci Eng. 2016 Jan 27;13(2):437–447. doi: 10.1109/TASE.2016.2517124

Fig. 4.

Fig. 4

(a) B-SELQR trajectory for a car-like robot navigating to a goal (green) in a 2-D light-dark environment (adapted from [15]). (b) B-SELQR trajectory for the environment with obstacles (red circles). The blue ellipsoids show 3 standard deviations of the belief distributions. B-SELQR converges faster than iLQG in belief space in both scenarios.