A decision-theoretic approach to planning, perception, and control

  title={A decision-theoretic approach to planning, perception, and control},
  author={Kenneth Basye and Thomas L. Dean and Jak Kirman and Moises Lejter},
  journal={IEEE Expert},
The application of Bayesian decision theory as a framework for designing high-level robotic control systems is discussed. The approach to building planning and control systems integrates sensor fusion, prediction, and sequential decision making. The system explicitly uses the value of sensor information as well as the value of actions that facilitate further sensing. A stochastic decision model and a model for mobile-target localization used in the control system are described. A control system… CONTINUE READING
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