A point-based POMDP algorithm for robot planning
Authors:
Open Access
- 1 January 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3 (10504729) , 2399-2404 Vol.3
Abstract
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 POMDP, 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-of-the-art methods in terms of speed and solution quality.Keywords
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