DA-BSP: Towards Data Association Aware Belief Space Planning for Robust Active Perception.

Shashank Pathak Antony Thomas Asaf Feniger Vadim Indelman

Published in: ECAI (2016)

Keyphrases

belief space
data association
dynamic environments
state space
planning under uncertainty
motion planning

particle filter
object tracking
belief state
initial state
multiple objects
motion model

partially observable
visual tracking
partially observable markov decision processes
kalman filter
multi robot

planning problems
planning process
planning graph
heuristic search
reinforcement learning