Planning in partially-observable switching-mode continuous domains
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Kaelbling_Planning in.pdf
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Author(s)
Brunskill, Emma
Roy, Nicholas
Kaelbling, Leslie P.
Lozano-Perez, Tomas
Date Issued
July 2010
Journal
Annals of Mathematics and Artificial Intelligence
Publisher
Springer-Verlag
Citation
Brunskill, Emma, Leslie Pack Kaelbling, Tomas Lozano-Perez, and Nicholas Roy. “Planning in Partially-Observable Switching-Mode Continuous Domains.” Ann Math Artif Intell 58, no. 3–4 (April 2010): 185–216.
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Author's final manuscript
Abstract
Continuous-state POMDPs provide a natural representation for a variety of tasks, including many in robotics. However, most existing parametric continuous-state POMDP approaches are limited by their reliance on a single linear model to represent the world dynamics. We introduce a new switching-state dynamics model that can represent multi-modal state-dependent dynamics. We present the Switching Mode POMDP (SM-POMDP) planning algorithm for solving continuous-state POMDPs using this dynamics model. We also consider several procedures to approximate the value function as a mixture of a bounded number of Gaussians. Unlike the majority of prior work on approximate continuous-state POMDP planners, we provide a formal analysis of our SM-POMDP algorithm, providing bounds, where possible, on the quality of the resulting solution. We also analyze the computational complexity of SM-POMDP. Empirical results on an unmanned aerial vehicle collisions avoidance simulation, and a robot navigation simulation where the robot has faulty actuators, demonstrate the benefit of SM-POMDP over a prior parametric approach.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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DOI of Published Version
https://doi.org/10.1007/s10472-010-9202-1
