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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. 6.

Fig. 6

B-SELQR trajectories for a car-like robot navigating to a goal (green) in an environment where two beacons are used for localization (adapted from [26]) while avoiding obstacles (red). (b) Comparison between B-SELQR and iLQG in belief space in terms of the number of iterations for convergence.