Motion Planning Under Uncertainty Using Differential Dynamic Programming in Belief Space.
Jur van den BergSachin PatilRon AlterovitzPublished in: ISRR (2011)
Keyphrases
- planning under uncertainty
- belief space
- dynamic programming
- robotic tasks
- markov decision processes
- partially observable markov decision processes
- motion planning
- decision theoretic
- state space
- ai planning
- dynamical systems
- optimal policy
- image sequences
- multi agent
- space time
- partially observable
- belief state
- reinforcement learning
- optimal control
- finite state
- human motion
- linear programming
- objective function
- decision problems
- initial state
- mobile robot