Efficient Planning in Non-Gaussian Belief Spaces and Its Application to Robot Grasping

  title={Efficient Planning in Non-Gaussian Belief Spaces and Its Application to Robot Grasping},
  author={Robert Platt and Leslie Pack Kaelbling and Tom{\'a}s Lozano-P{\'e}rez and Russ Tedrake},
The limited nature of robot sensors make many important robo tics problems partially observable. These problems may require the s yst m to perform complex information-gathering operations. One approach to so lving these problems is to create plans inbelief-space , the space of probability distributions over the underlying state of the system. The belief-space plan encodes a st rategy for performing a task while gaining information as necessary. Most approach es to belief-space planning rely… CONTINUE READING
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