Computationally Efficient Belief Space Planning via Augmented Matrix Determinant Lemma and Reuse of Calculations.
Dmitry KopitkovVadim IndelmanPublished in: IEEE Robotics Autom. Lett. (2017)
Keyphrases
- belief space
- computationally efficient
- motion planning
- planning tasks
- planning under uncertainty
- belief state
- dynamic environments
- state space
- partial observability
- initial state
- partially observable
- partially observable markov decision processes
- conformant planning
- planning process
- orders of magnitude
- point based value iteration
- planning graph
- decision theoretic
- ai planning
- computational complexity
- planning problems
- path planning
- dynamical systems
- action recognition
- sufficient conditions
- markov chain
- mobile robot
- dynamic programming