DA-BSP: Towards Data Association Aware Belief Space Planning for Robust Active Perception.
Shashank PathakAntony ThomasAsaf FenigerVadim IndelmanPublished 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