Act, Perceive, and Plan in Belief Space for Robot Localization.
Michele ColledanchiseDamiano MalafronteLorenzo NatalePublished in: ICRA (2020)
Keyphrases
- belief space
- robot localization
- mobile robot
- dynamic environments
- initial state
- planning graph
- motion planning
- planning under uncertainty
- object recognition
- robot navigation
- planning process
- simultaneous localization and mapping
- state space
- plan execution
- classical planning
- action sequences
- belief state
- ai planning
- decision theoretic
- partially observable
- plan recognition
- partially observable markov decision processes
- reinforcement learning
- planning domains
- heuristic search
- indoor environments
- markov decision processes
- domain independent
- probability distribution
- moving objects
- search algorithm