Belief space planning assuming maximum likelihood observations.
Robert Platt Jr.Russ TedrakeLeslie Pack KaelblingTomás Lozano-PérezPublished in: Robotics: Science and Systems (2010)
Keyphrases
- belief space
- maximum likelihood
- planning tasks
- motion planning
- planning under uncertainty
- dynamic environments
- belief state
- state space
- partial observability
- action sequences
- initial state
- expectation maximization
- partially observable
- partially observable markov decision processes
- classical planning
- planning graph
- planning problems
- symbolic model checking
- point based value iteration
- dynamical systems
- heuristic search
- orders of magnitude
- mobile robot
- machine learning