POMDParXiv:1212.2495
方策依存の抽象化による頑健なロボット制御
Policy-contingent abstraction for robust robot control
階層的制御と階層MDPの知見に基づき、確率的信念を考慮した高レベル意思決定を可能にするスケーラブルな制御アルゴリズムを提案し、介護施設で実機運用した。
著者: Joelle Pineau, Geoffrey Gordon, Sebastian Thrun
分類: cs.RO, cs.AI, cs.SY, eess.SY
原文アブストラクト
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.
