The DOI matches its Crossref record; 20 of the 20 references it cites were found in a registry or an index.
SARSOP: Efficient Point-Based POMDP Planning by Approximating Optimally Reachable Belief Spaces
Open accessAbstract
Motion planning in uncertain and dynamic environments is an essential capability for autonomous robots.Partially observable Markov decision processes (POMDPs) provide a principled mathematical framework for solving such problems, but they are often avoided in robotics due to high computational complexity.Our goal is to create practical POMDP algorithms and software for common robotic tasks.To this end, we have developed a new point-based POMDP algorithm that exploits the notion of optimally reachable belief spaces to improve computational efficiency.In simulation, we successfully applied the algorithm to a set of common robotic tasks, including instances of coastal navigation, grasping, mobile robot exploration, and target tracking, all modeled as POMDPs with a large number of states.In most of the instances studied, our algorithm substantially outperformed one of the fastest existing point-based algorithms.A software package implementing our algorithm is available for download at
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Cites
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Pineau, J., Gordon, G., & Thrun, S. (2003) · Cited by 918
Towards robotic assistants in nursing homes: Challenges and results
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Cited by
Perception, Planning, Control, and Coordination for Autonomous Vehicles
Pendleton, S., Andersen, H., Du, X., Shen, X., Meghjani, M., Eng, Y., Rus, D., & Ang, M. (2017) · Machines · doi:10.3390/machines5010006 · Cited by 657
Rational quantitative attribution of beliefs, desires and percepts in human mentalizing
Baker, C. L., Jara-Ettinger, J., Saxe, R., & Tenenbaum, J. B. (2017) · Nature Human Behaviour · doi:10.1038/s41562-017-0064 · Cited by 515
Planning with Trust for Human-Robot Collaboration
Chen, M., Nikolaidis, S., Soh, H., Hsu, D., & Srinivasa, S. (2018) · Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction · doi:10.1145/3171221.3171264 · Cited by 221
Self-citationDESPOT: Online POMDP Planning with Regularization
Ye, N., Somani, A., Hsu, D., & Lee, W. S. (2017) · Journal of Artificial Intelligence Research · doi:10.1613/jair.5328 · Cited by 179
Self-citationTraining-Based Antenna Selection for PER Minimization: A POMDP Approach
Padmanabhan, S., Stephen, R. G., Murthy, C. R., & Coupechoux, M. (2015) · IEEE Transactions on Communications · doi:10.1109/tcomm.2015.2455504 · Cited by 15
Metadata
- Authors
- Kurniawati, H., Hsu, D., & Sun Lee, W.
- Venue
- Robotics: Science and Systems IV
- Published
- 2008-06-25
- OpenAlex
- W2099430963
- Cited by
- 759
- References
- 20
- FWCI
- 20.34
- Type
- conference paper
- Language
- en
- Open access
- gold
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- Kurniawati, H., Hsu, D., & Sun Lee, W. (2008). SARSOP: Efficient Point-Based POMDP Planning by Approximating Optimally Reachable Belief Spaces. Robotics: Science and Systems IV. https://doi.org/10.15607/rss.2008.iv.009
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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