Abstraktions-basierte Verifikation von POMDPs im Motion-Planning-Kontext.
Leonore WintererSebastian JungesRalf WimmerNils JansenUfuk TopcuJoost-Pieter KatoenBernd BeckerPublished in: MBMV (2018)
Keyphrases
- motion planning
- belief space
- degrees of freedom
- mobile robot
- trajectory planning
- path planning
- partially observable markov decision processes
- point based value iteration
- robot arm
- reinforcement learning
- humanoid robot
- robotic tasks
- multi robot
- markov decision processes
- belief state
- inverse kinematics
- robotic arm
- partially observable
- configuration space
- obstacle avoidance
- autonomous mobile robot
- planning under uncertainty
- manipulation tasks
- mechanical systems
- pose estimation
- collision free
- infinite horizon
- optimal policy
- dynamic programming
- decision problems
- machine learning