# Probabilistic Velocity Obstacles

I have been working with the Velocity Obstacles concept. Recently, I came across a probabilistic extension of this and couldn't understand the inner workings.

• The notation $PCC_{ij} : \Bbb R^2 \to [0,1]$ means "$PCC_{ij}$ is a function from $\Bbb R^2$ (real ordered pairs) to the interval $[0,1]$." – apnorton Oct 24 '14 at 3:36