SARSOP: Efficient Point-Based POMDP Planning by Approximating Optimally Reachable Belief Spaces

@inproceedings{Kurniawati2008SARSOPEP,
  title={SARSOP: Efficient Point-Based POMDP Planning by Approximating Optimally Reachable Belief Spaces},
  author={H. Kurniawati and David Hsu and Wee Sun Lee},
  booktitle={Robotics: Science and Systems},
  year={2008}
}
IN Proc. Robotics: Science & Systems, 2008 Abstract—Motion planning in uncertain and dynamic environ- ments is an essential capability for autonomous robots. Partially observable Markov decision processes (POMDPs) provide a principled mathematical framework for solving such problems, but they are often avoided in robotics due to high computational complexity. Our goal is to create practical POMDP algorithms and software for common robotic tasks. To this end, we have developed a new point-based… Expand
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