Uncertainty-Constrained Differential Dynamic Programming in Belief Space for Vision Based Robots.
Shatil RahmanSteven L. WaslanderPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- belief space
- dynamic programming
- partial observability
- state space
- partially observable markov decision processes
- belief state
- motion planning
- dynamic environments
- mobile robot
- multi robot
- planning under uncertainty
- reinforcement learning
- initial state
- markov decision processes
- partially observable
- path planning
- linear programming
- computer vision
- stereo matching
- robotic systems
- optimal control
- optimal policy
- human computer interaction
- vision system
- heuristic search
- humanoid robot
- orders of magnitude
- machine learning
- decision problems
- action recognition
- search space