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Heuristic Search Value Iteration for POMDPs
HSVI is an anytime algorithm that returns a policy and a provable bound on its regret with respect to the optimal policy and is applied to a new rover exploration problem 10 times larger than most POMDP problems in the literature.
Point-Based POMDP Algorithms: Improved Analysis and Implementation
A new bound for point-based POMDP value iteration algorithms is derived that relies on both and uses the concept of discounted reachability and may help guide future algorithm design.
Verification and planning for stochastic processes with asynchronous events
It is demonstrated that the introduction of phases permits us to take history into account when making action choices, and this can result in policies of higher quality than the authors would get if they ignored history dependence.
Coordination for Multi-Robot Exploration and Mapping
This paper addresses the problem of exploration and mapping of an unknown environment by multiple robots. The mapping algorithm is an on-line approach to likelihood maximization that uses hill…
VHPOP: Versatile Heuristic Partial Order Planner
VHPOP is a partial order causal link (POCL) planner loosely based on UCPOP. It draws from the experience gained in the early to mid 1990's on flaw selection strategies for POCL planning, and combines…
Probabilistic Robot Navigation in Partially Observable Environments
First results are reported on first results of a research program that uses par tially observable Markov models to robustly track a robots location in office environments and to direct its goal-oriented actions.
Probabilistic Verification of Discrete Event Systems Using Acceptance Sampling
A model independent procedure for verifying properties of discrete event systems based on Monte Carlo simulation and statistical hypothesis testing that is probabilistic in two senses and carried out in an anytime manner.
Structured control for autonomous robots
- R. Simmons
- BusinessIEEE Trans. Robotics Autom.
- 1 February 1994
This paper advocates developing complex robot systems by layering reactive behaviors onto deliberative components, and develops the Task Control Architecture (TCA), an integrated set of control constructs useful for implementing deliberative and reactive behaviors.
Statistical probabilistic model checking with a focus on time-bounded properties
Collaborative multi-robot exploration
- W. Burgard, M. Moors, D. Fox, R. Simmons, S. Thrun
- Computer ScienceProceedings ICRA. Millennium Conference. IEEE…
- 24 April 2000
A probabilistic approach for the coordination of multiple robots which, in contrast to previous approaches, simultaneously takes into account the costs of reaching a target point and the utility of target points.