NDLI: Variable resolution decomposition for robotic navigation under a POMDP framework

Content Provider	IEEE Xplore Digital Library
Author	Kaplow, R. Atrash, A. Pineau, J.
Copyright Year	2010
Description	Author affiliation: School of Computer Science, McGill University, Montreal, Quebec, Canada (Kaplow, R.; Atrash, A.; Pineau, J.)
Abstract	Partially Observable Markov Decision Processes (POMDPs) offer a powerful mathematical framework for making optimal action choices in noisy and/or uncertain environments, in particular, allowing us to merge localization and decision-making for mobile robots. While advancements in POMDP techniques have allowed the use of much larger models, POMDPs for robot navigation are still limited by large state space requirements for even small maps. In this work, we propose a method to automatically generate a POMDP representation of an environment. By using variable resolution decomposition techniques, we can take advantage of characteristics of the environment to minimize the number of states required, while maintaining the level of detail required to find a robust and efficient policy. This is accomplished by automatically adjusting the level of detail required for planning at a given region, with few states representing large open areas, and many smaller states near objects. We validate this algorithm in POMDP simulations, a robot simulator as well as an autonomous robot.
Starting Page	369
Ending Page	376
File Size	1370999
Page Count	8
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509188
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Robot sensing systems Orbital robotics Robotics and automation Uncertainty Mobile robots Computer science Robustness Spatial resolution Working environment noise
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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