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Planning to see: A hierarchical approach to planning visual actions on a robot using POMDPs

Mohan Sridharan, Jeremy Wyatt, Richard Dearden
2010 Artificial Intelligence  
Flexible, general-purpose robots need to autonomously tailor their sensing and information processing to the task at hand. We pose this challenge as the task of planning under uncertainty.  ...  In summary, visual processing problems represent a challenging domain for planning techniques and our hierarchical POMDP-based approach for visual processing management opens up a promising new line of  ...  The focus here is on a specific sub-category of the planning problem: the joint planning of sensing (where to look) and information processing (what to look for) actions to achieve a desired goal.  ... 
doi:10.1016/j.artint.2010.04.022 fatcat:y2x6f6cf25ajvmyx6qttuaiib4

Bootstrap Learning and Visual Processing Management on Mobile Robots

Mohan Sridharan
2010 Advances in Artificial Intelligence  
We describe probabilistic algorithms that enable a mobile robot to autonomously plan its actions to learn models of color distributions and illuminations.  ...  A central goal of robotics and AI is to enable a team of robots to operate autonomously in the real world and collaborate with humans over an extended period of time.  ...  Acknowledgments The author thanks collaborators from the University of Texas at Austin (Peter Stone) and University of Birmingham (UK) (Jeremy Wyatt, Richard Dearden, and Aaron Sloman).  ... 
doi:10.1155/2010/765876 fatcat:pmrxqj4zrbgk3pohhokgbrrtx4

Learning State-Variable Relationships in POMCP: A Framework for Mobile Robots

Maddalena Zuccotto, Marco Piccinelli, Alberto Castellini, Enrico Marchesini, Alessandro Farinelli
2022 Frontiers in Robotics and AI  
We propose, in particular, a method for learning these relationships on a robot as POMCP is used to plan future actions.  ...  We address the problem of learning relationships on state variables in Partially Observable Markov Decision Processes (POMDPs) to improve planning performance.  ...  “Hippo: Hierarchical Pomdps for Planning Information Processing and Sensing Actions on a Robot,” in International Conference on Automated Planning and Scheduling, (ICAPS) (AAAI), 346–354.  ... 
doi:10.3389/frobt.2022.819107 pmid:35928541 pmcid:PMC9343685 doaj:99cec9a6c2654afbb39705f031e44e5f fatcat:pft7w73wcvgjdnl37qdksabbju

Deliberation for autonomous robots: A survey

Félix Ingrand, Malik Ghallab
2017 Artificial Intelligence  
The survey focuses as much as possible on papers with a clear robotics content and with a concern on integrating several deliberation functions.  ...  Autonomous robots facing a diversity of open environments and performing a variety of tasks and interactions need explicit deliberation in order to fulfill their missions.  ...  Many thanks to several colleagues, in particular Wheeler Ruml and Frédéric Py for their very helpful technical and editorial feedback.  ... 
doi:10.1016/j.artint.2014.11.003 fatcat:e3b5lxppsje6pndmudxqtnzedy