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Reachability analysis of hybrid systems has been used as a safety verification tool to assess offline whether the state of a system is capable of remaining within a designated safe region for a given time horizon. Although it has been…
The focus of this paper is on solving multi-robot planning problems in continuous spaces with partial observability. Decentralized partially observable Markov decision processes (Dec-POMDPs) are general models for multi-robot coordination…
We introduce a class of partially observed Markov decision processes (POMDPs) with costs that can depend on both the value and (future) uncertainty associated with the initial state. These Initial-State Cost POMDPs (ISC-POMDPs) enable the…
Markov Decision Processes (MDPs) have been used to formulate many decision-making problems in science and engineering. The objective is to synthesize the best decision (action selection) policies to maximize expected rewards (or minimize…
We propose an approach based on probabilistic models, in particular POMDPs, to plan optimized search processes of known objects by intelligent eye in hand robotic arms. Searching and reaching for a known object (a pen, a book, or a hammer)…
In this review/tutorial article, we present recent progress on optimal control of partially observed Markov Decision Processes (POMDPs). We first present regularity and continuity conditions for POMDPs and their belief-MDP reductions, where…
In many engineering systems, proper predictive maintenance and operational control are essential to increase efficiency and reliability while reducing maintenance costs. However, one of the major challenges is that many sensors are used for…
In recent years, reinforcement learning has achieved many remarkable successes due to the growing adoption of deep learning techniques and the rapid growth in computing power. Nevertheless, it is well-known that flat reinforcement learning…
This paper proposes an observer-based framework for solving Partially Observable Markov Decision Processes (POMDPs) when an accurate model is not available. We first propose to use a Moving Horizon Estimation-Model Predictive Control…
Partially Observable Markov Decision Processes (POMDPs) are a general and principled framework for motion planning under uncertainty. Despite tremendous improvement in the scalability of POMDP solvers, long-horizon POMDPs (e.g., $\geq15$…
Previous work on planning as active inference addresses finite horizon problems and solutions valid for online planning. We propose solving the general Stochastic Shortest-Path Markov Decision Process (SSP MDP) as probabilistic inference.…
We present POAPS, a novel planning system for defining Partially Observable Markov Decision Processes (POMDPs) that abstracts away from POMDP details for the benefit of non-expert practitioners. POAPS includes an expressive adaptive…
We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…
This work develops novel strategies for optimal planning with semantic observations using continuous state partially observable markov decision processes (CPOMDPs). Two major innovations are presented in relation to Gaussian mixture (GM)…
Large-scale Markov decision processes (MDPs) require planning algorithms with runtime independent of the number of states of the MDP. We consider the planning problem in MDPs using linear value function approximation with only weak…
The partially observable Markov decision process (POMDP) provides a principled general framework for planning under uncertainty, but solving POMDPs optimally is computationally intractable, due to the "curse of dimensionality" and the…
Partially Observable Markov Decision Processes (POMDPs) can model complex sequential decision-making problems under stochastic and uncertain environments. A main reason hindering their broad adoption in real-world applications is the lack…
This paper studies parametric Markov decision processes (pMDPs), an extension to Markov decision processes (MDPs) where transitions probabilities are described by polynomials over a finite set of parameters. Fixing values for all parameters…
Applications of Reinforcement Learning (RL), in which agents learn to make a sequence of decisions despite lacking complete information about the latent states of the controlled system, that is, they act under partial observability of the…
We present a technique for speeding up the convergence of value iteration for partially observable Markov decisions processes (POMDPs). The underlying idea is similar to that behind modified policy iteration for fully observable Markov…