Reference : Planning with Continuous Actions in Partially Observable Environments
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
http://hdl.handle.net/10993/11056
Planning with Continuous Actions in Partially Observable Environments
English
Spaan, M. T. J. [> >]
Vlassis, Nikos mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
2005
Proc. IEEE Int. Conf. on Robotics and Automation
3458-3463
Yes
IEEE Int. Conf. on Robotics and Automation
2005
[en] We present a simple randomized POMDP al gorithm for planning with continuous actions in partially observable environments. Our algorithm operates on a set of reachable belief points, sampled by letting the robot interact randomly with the environment. We perform value iteration steps, ensuring that in each step the value of all sampled belief points is improved. The idea here is that by sampling actions from a continuous action space we can quickly improve the value of all belief points in the set. We demonstrate the viability of our algorithm on two sets of experiments: one involving an active localization task and one concerning robot navigation in a perceptually aliased of fice environment.
http://hdl.handle.net/10993/11056

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