Real-Time Decision Making with State-Value Function under Uncertainty of State Estimation – Evaluation with Local Maxima and Discontinuity

We have proposed the real-time QMDP method for decision making of a robot under uncertain state recognition. This method evaluates every action and chooses the best one with a particle filter for estimation and a state-value function of dynamic programming. Different from our past work, this paper applies it to a complicated decision making task that yields… (More)