An Online POMDP Solver for Uncertainty Planning in Dynamic Environment

@inproceedings{Kurniawati2013AnOP,
  title={An Online POMDP Solver for Uncertainty Planning in Dynamic Environment},
  author={Hanna Kurniawati and Vinay Yadav},
  booktitle={ISRR},
  year={2013}
}
Motion planning under uncertainty is important for reliable robot operations in uncertain and dynamic environments. Partially Observable Markov Decision Process (POMDP) is a general and systematic framework for motion planning under uncertainty. To cope with dynamic environment well, we often need to modify the POMDP model during runtime. However, despite recent tremendous advances in POMDP planning, most solvers are not fast enough to generate a good solution when the POMDP model changes… CONTINUE READING
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