Belief space planning assuming maximum likelihood observations

We cast the partially observable control problem as a fully observable underactuated stochastic control problem in belief space and apply standard planning and control techniques. One of the difficulties of belief space planning is modeling the stochastic dynamics resulting from unknown future o...

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Bibliographic Details
Main Authors: Platt, Robert, Tedrake, Russell Louis, Kaelbling, Leslie P., Lozano-Perez, Tomas
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Published: 2011
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