A hypothesis-based algorithm for planning and control in non-Gaussian belief spaces

We consider the partially observable control problem where it is potentially necessary to perform complex information-gathering operations in order to localize state. One approach to solving these problems is to create plans in belief-space, the space of probability distributions over the underlying...

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Bibliographic Details
Main Authors: Platt, Robert, Jr., Kaelbling, Leslie, Lozano-Perez, Tomas, Tedrake, Russ
Other Authors: Russ Tedrake
Published: 2011
Online Access:http://hdl.handle.net/1721.1/65856

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