Q: In this task, you are given a part of an article. Your task is to generate headline (title) for this text. Preferred headlines are under fifteen words.
For high level path planning, environments are usually modeled as distance graphs, and path planning problems are reduced to com puting the shortest path in distance graphs. One major drawback of this modeling is the inability to model uncertainties, which are of ten encountered in practice. In this paper, a new tool, called U-graph, is proposed for environment modeling. A U-graph is an ex tension of distance graphs with the ability to handle a kind of uncertainty. By model ing an uncertain environment as a U-graph, and a navigation problem as a Markovian decision process, we can precisely define a new optimality criterion for navigation plans, and more importantly, we can come up with a general algorithm for computing optimal plans for navigation tasks.
A:
High Level Path Planning with Uncertainty