Online Replanning in Belief Space for Partially Observable Task and Motion Problems.
Caelan Reed GarrettChris PaxtonTomás Lozano-PérezLeslie Pack KaelblingDieter FoxPublished in: CoRR (2019)
Keyphrases
- belief space
- partially observable
- partial observability
- decision problems
- motion planning
- state space
- belief state
- planning under uncertainty
- classical planning
- partially observable markov decision processes
- decision theoretic
- reinforcement learning
- dynamic environments
- fully observable
- dynamical systems
- heuristic search
- markov decision processes
- infinite horizon
- markov decision problems
- human motion
- initial state
- planning problems
- orders of magnitude
- space time
- mobile robot
- spatio temporal
- computational complexity