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A point-based POMDP algorithm for robot planning
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
doi:10.1109/robot.2004.1307420
dblp:conf/icra/SpaanV04
fatcat:uij2r6sj3rawxg6jeyhbig53na