Belief space planning assuming maximum likelihood observations

  title={Belief space planning assuming maximum likelihood observations},
  author={Robert Platt and Russ Tedrake and Leslie Pack Kaelbling and Tom{\'a}s Lozano-P{\'e}rez},
  booktitle={Robotics: Science and Systems},
We cast the partially observable control problem as a fully observable underactuated stochastic control problem in belief space and apply standard planning and control techniques. One of the difficulties of belief space planning is modeling the stochastic dynamics resulting from unknown future observations . The core of our proposal is to define deterministic beliefsystem dynamics based on an assumption that the maximum likelihood observation (calculated just prior to the observation) is always… CONTINUE READING
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