不確実性下での後悔なき再計画
No-Regret Replanning under Uncertainty
ガウス過程で表される未知環境でのオンライン経路計画に対し、バンディット風のUCBアルゴリズムを適用し、探索と活用を両立させて後悔を抑える手法を提案。風が部分的にしか観測できない航空機の経路計画で有効性を示した。
著者: Wen Sun, Niteesh Sood, Debadeepta Dey, Gireeja Ranade, Siddharth Prakash, Ashish Kapoor
分類: cs.RO, cs.LG
原文アブストラクト
This paper explores the problem of path planning under uncertainty. Specifically, we consider online receding horizon based planners that need to operate in a latent environment where the latent information can be modeled via Gaussian Processes. Online path planning in latent environments is challenging since the robot needs to explore the environment to get a more accurate model of latent information for better planning later and also achieves the task as quick as possible. We propose UCB style algorithms that are popular in the bandit settings and show how those analyses can be adapted to the online robotic path planning problems. The proposed algorithm trades-off exploration and exploitation in near-optimal manner and has appealing no-regret properties. We demonstrate the efficacy of the framework on the application of aircraft flight path planning when the winds are partially observed.
