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Summary: Stochastic Language-based Motion Control
Sean Andersson
Electrical and Computer Engineering and
Institute for Systems Research
University of Maryland
College Park, MD 20742
sanderss@isr.umd.edu
Dimitrios Hristu-Varsakelis
Mechanical Engineering and
Institute for Systems Research
University of Maryland
College Park, MD 20742
hristu@isr.umd.edu
Abstract-- In this work we present an efficient environment
representation based on the use of landmarks and language-
based motion programs. The approach is targeted towards
applications involving expansive, imprecisely known terrain
without a single global map. To handle the uncertainty inher-
ent in real-world applications a partially-observed controlled
Markov chain structure is used in which the state space is
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