Reference : A point-based POMDP algorithm for robot planning
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
http://hdl.handle.net/10993/11057
A point-based POMDP algorithm for robot planning
English
Spaan, Matthijs T. J. [> >]
Vlassis, Nikos mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
2004
Proc. IEEE Int. Conf. on Robotics and Automation, New Orleans, Louisiana
2399-2404
Yes
IEEE Int. Conf. on Robotics and Automation, New Orleans, Louisiana
2004
[en] We present an approximate POMDP solution method for robot planning in partially observable environments. Our algorithm belongs to the family of point-based value iteration solution techniques for POMDPs, in which planning is performed only on a sampled set of reachable belief points. We describe a simple, randomized procedure that performs value update steps that strictly improve the value of all belief points in each step. We demonstrate our algorithm on a robotic delivery task in an office environment and on several benchmark problems, for which we compute solutions that are very competitive to those of state-ofthe -art methods in terms of speed and solution quality.
http://hdl.handle.net/10993/11057

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