TRACTABLE PLANNING UNDER UNCERTAINTY: EXPLOITING STRUCTURE

دانشگاه آزاد اسلامی اصفهان(خوراسگان)

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" TRACTABLE PLANNING UNDER UNCERTAINTY: EXPLOITING STRUCTURE "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	150565
Doc. No	:	ET22357
Main Entry	:	Joelle Pineau
Title Proper	:	TRACTABLE PLANNING UNDER UNCERTAINTY: EXPLOITING STRUCTURE
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	HE problem of planning under uncertainty has received significant attention inthe scientific community over the past few years. It is now well-recognized thatconsidering uncertainty during planning and decision-making is imperative tothe design of robust computer systems. This is particularly crucial in robotics,where the ability to interact effectively with real-world environments is a prerequisite forsuccess.The Partially Observable Markov Decision Process (POMDP) provides a rich frame-work for planning under uncertainty. The POMDP model can optimize sequences of ac-tions which are robust to sensor noise, missing information, occlusion, as well as impreciseactuators. While the model is sufficiently rich to address most robotic planning problems,exact solutions are generally intractable for all but the smallest problems.This thesis argues that large POMDP problems can be solved by exploiting naturalstructural constraints. In support of this, we propose two distinct but complementary al-gorithms which overcome tractability issues in POMDP planning. PBVI is a sample-basedapproach which approximates a value function solution by planning over a small numberof salient information states. PolCA+ is a hierarchical approach which leverages structuralproperties of a problem to decompose it into a set of.-...,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL45563.pdf
Title and statement of responsibility and	:	TRACTABLE PLANNING UNDER UNCERTAINTY: EXPLOITING STRUCTURE [Thesis]