Corpus ID: 218516551

Multi-Resolution POMDP Planning for Multi-Object Search in 3D

  title={Multi-Resolution POMDP Planning for Multi-Object Search in 3D},
  author={Kaiyu Zheng and Yoonchang Sung and G. Konidaris and Stefanie Tellex},
Robots operating in household environments must find objects on shelves, under tables, and in cupboards. Previous work often formulate the object search problem as a POMDP (Partially Observable Markov Decision Process), yet constrain the search space in 2D. We propose a new approach that enables the robot to efficiently search for objects in 3D, taking occlusions into account. We model the problem as an object-oriented POMDP, where the robot receives a volumetric observation from a viewing… Expand


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