Acting under Uncertainty: Discrete Bayesian Models for Mobile-Robot Navigation (1996)
| Venue: | IN PROCEEDINGS OF THE IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS |
| Citations: | 165 - 11 self |
BibTeX
@INPROCEEDINGS{Cassandra96actingunder,
author = {A. Cassandra and L. Kaelbling and J. Kurien},
title = {Acting under Uncertainty: Discrete Bayesian Models for Mobile-Robot Navigation},
booktitle = {IN PROCEEDINGS OF THE IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS},
year = {1996},
pages = {963--972},
publisher = {}
}
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Abstract
Discrete Bayesian models have been used to model uncertainty for mobile-robot navigation, but the question of how actions should be chosen remains largely unexplored. This paper presents the optimal solution to the problem, formulated as a partially observable Markov decision process. Since solving for the optimal control policy is intractable, in general, it goes on to explore a variety of heuristic control strategies. The control strategies are compared experimentally, both in simulation and in runs on a robot.
