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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Detalles Bibliográficos
Autores Principales: Platt, Robert, Tedrake, Russell Louis, Kaelbling, Leslie P., Lozano-Perez, Tomas
Otros Autores: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Formato: Artículo
Publicado: 2011
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