A point-based POMDP algorithm for robot planning

M.T.J. Spaan, N. Spaan
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
We present an approximate POMDP solution method for robot planning in partially observable environments. Our algorithm belongs to the family of point-based value iteration solution techniques for POMDPs, in which planning is performed only on a sampled set of reachable belief points. We describe a simple, randomized procedure that performs value update steps that strictly improve the value of all belief points in each step. We demonstrate our algorithm on a robotic delivery task in an office
more » ... ironment and on several benchmark problems, for which we compute solutions that are very competitive to those of state-ofthe-art methods in terms of speed and solution quality.
doi:10.1109/robot.2004.1307420 dblp:conf/icra/SpaanV04 fatcat:uij2r6sj3rawxg6jeyhbig53na