Policy-contingent abstraction for robust robot control
Robotics
2012-12-12 v1 Artificial Intelligence
Systems and Control
Abstract
This paper presents a scalable control algorithm that enables a deployed mobile robot system to make high-level decisions under full consideration of its probabilistic belief. Our approach is based on insights from the rich literature of hierarchical controllers and hierarchical MDPs. The resulting controller has been successfully deployed in a nursing facility near Pittsburgh, PA. To the best of our knowledge, this work is a unique instance of applying POMDPs to high-level robotic control problems.
Cite
@article{arxiv.1212.2495,
title = {Policy-contingent abstraction for robust robot control},
author = {Joelle Pineau and Geoffrey Gordon and Sebastian Thrun},
journal= {arXiv preprint arXiv:1212.2495},
year = {2012}
}
Comments
Appears in Proceedings of the Nineteenth Conference on Uncertainty in Artificial Intelligence (UAI2003)