SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control.
Haruki NishimuraMac SchwagerPublished in: CoRR (2020)
Keyphrases
- dynamical systems
- belief space
- partially observable
- planning under uncertainty
- partially observable markov decision processes
- control theory
- state space
- initial state
- dynamic systems
- action sequences
- belief state
- motion planning
- predictive state representations
- dynamic environments
- control system
- optimal control
- action space
- action selection
- heuristic search
- nonlinear dynamical systems
- reinforcement learning
- planning problems
- classical planning
- dynamic programming
- continuous state
- search space
- markov decision problems
- spatio temporal