相关论文: POMDP-Guided Active Force-Based Search for Robotic…

This paper addresses a fundamental question of multi-agent knowledge distribution: what information should be sent to whom and when, with the limited resources available to each agent? Communication requirements for multi-agent systems can…

This paper presents a data-driven approach for multi-robot coordination in partially-observable domains based on Decentralized Partially Observable Markov Decision Processes (Dec-POMDPs) and macro-actions (MAs). Dec-POMDPs provide a general…

Robots operating in complex and unknown environments frequently require geometric-semantic representations of the environment to safely perform their tasks. While inferring the environment, they must account for many possible scenarios when…

The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…

We present an efficient reinforcement learning algorithm that learns the optimal admission control policy in a partially observable queueing network. Specifically, only the arrival and departure times from the network are observable, and…

Partially observable Markov decision processes (POMDPs) have been widely used in many robotic applications for sequential decision-making under uncertainty. POMDP online planning algorithms such as Partially Observable Monte-Carlo Planning…

This paper is on decision making of autonomous vehicles for handling roundabouts. The round intersection is introduced first followed by the Markov Decision Processes (MDP), the Partially Observable Markov Decision Processes (POMDP) and the…

Partially observable Markov decision processes (POMDPs) provide a flexible representation for real-world decision and control problems. However, POMDPs are notoriously difficult to solve, especially when the state and observation spaces are…

Hidden Markov models (HMMs) and partially observable Markov decision processes (POMDPs) form a useful tool for modeling dynamical systems. They are particularly useful for representing environments such as road networks and office…

The Partially Observable Markov Decision Process (POMDP) is a powerful framework for capturing decision-making problems that involve state and transition uncertainty. However, most current POMDP planners cannot effectively handle…

When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…

This paper proposes an integration of temporal logical reasoning and Partially Observable Markov Decision Processes (POMDPs) to achieve interpretable decision-making under uncertainty with macro-actions. Our method leverages a fragment of…

High-fidelity measurements of continuum physical fields are essential for scientific discovery and engineering design but remain challenging under sparse and constrained sensing. Conventional reconstruction methods typically rely on fixed…

Partial observability is a common challenge in many reinforcement learning applications, which requires an agent to maintain memory, infer latent states, and integrate this past information into exploration. This challenge leads to a number…

Proactively perceiving others' intentions is a crucial skill to effectively interact in unstructured, dynamic and novel environments. This work proposes a first step towards embedding this skill in support robots for search and rescue…

We study the problem of controlling a partially observed Markov decision process (POMDP) to either aid or hinder the estimation of its state trajectory. We encode the estimation objectives via the smoother entropy, which is the conditional…

We consider a distributionally robust Partially Observable Markov Decision Process (DR-POMDP), where the distribution of the transition-observation probabilities is unknown at the beginning of each decision period, but their realizations…

Partially Observable Markov Decision Processes (POMDPs) remain a core challenge in reinforcement learning due to incomplete state information. We address this by reformulating POMDPs as fully observable processes with fixed-length…

This article provides an introductory tutorial on structural results in partially observed Markov decision processes (POMDPs). Typically, computing the optimal policy of a POMDP is computationally intractable. We use lattice program- ming…

Optimal decision-making presents a significant challenge for autonomous systems operating in uncertain, stochastic and time-varying environments. Environmental variability over time can significantly impact the system's optimal decision…