Scaling up Gaussian Belief Space Planning Through Covariance-Free Trajectory Optimization and Automatic Differentiation.
Sachin PatilGregory KahnMichael LaskeyJohn SchulmanKen GoldbergPieter AbbeelPublished in: WAFR (2014)
Keyphrases
- belief space
- planning tasks
- motion planning
- dynamic environments
- partial observability
- planning under uncertainty
- belief state
- state space
- partially observable
- partially observable markov decision processes
- initial state
- planning graph
- maximum likelihood
- planning process
- decision theoretic
- action sequences
- degrees of freedom
- path planning
- heuristic search
- point based value iteration