Robust, Compliant Assembly via Optimal Belief Space Planning.
Florian WirnshoferPhilipp S. SchmittWendelin FeitenGeorg von WichertWolfram BurgardPublished in: ICRA (2018)
Keyphrases
- belief space
- dynamic environments
- motion planning
- planning tasks
- planning under uncertainty
- state space
- partial observability
- initial state
- optimal solution
- belief state
- dynamic programming
- partially observable markov decision processes
- point based value iteration
- machine learning
- finite state
- humanoid robot
- optimal control
- planning problems
- bayesian networks