General-purpose incremental covariance update and efficient belief space planning via a factor-graph propagation action tree.
Dmitry KopitkovVadim IndelmanPublished in: Int. J. Robotics Res. (2019)
Keyphrases
- belief space
- general purpose
- initial state
- action sequences
- factor graphs
- motion planning
- dynamic environments
- planning under uncertainty
- domain specific
- state space
- partially observable
- message passing
- belief state
- belief propagation
- plan recognition
- ai planning
- graphical models
- plan execution
- classical planning
- machine learning
- higher order
- human actions
- planning problems