Please use this identifier to cite or link to this item: https://doi.org/10.1109/ROBOT.2008.4543611
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dc.titleA point-based POMDP planner for target tracking
dc.contributor.authorHsu, D.
dc.contributor.authorLee, W.S.
dc.contributor.authorRong, N.
dc.date.accessioned2013-07-04T08:08:32Z
dc.date.available2013-07-04T08:08:32Z
dc.date.issued2008
dc.identifier.citationHsu, D., Lee, W.S., Rong, N. (2008). A point-based POMDP planner for target tracking. Proceedings - IEEE International Conference on Robotics and Automation : 2644-2650. ScholarBank@NUS Repository. https://doi.org/10.1109/ROBOT.2008.4543611
dc.identifier.isbn9781424416479
dc.identifier.issn10504729
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/40621
dc.description.abstractTarget tracking has two variants that are often studied independently with different approaches: target searching requires a robot to find a target initially not visible, and target following requires a robot to maintain visibility on a target initially visible. In this work, we use a partially observable Markov decision process (POMDP) to build a single model that unifies target searching and target following. The POMDP solution exhibits interesting tracking behaviors, such as anticipatory moves that exploit target dynamics, information-gathering moves that reduce target position uncertainty, and energy-conserving actions that allow the target to get out of sight, but do not compromise long-term tracking performance. To overcome the high computational complexity of solving POMDPs, we have developed SARSOP, a new point-based POMDP algorithm based on successively approximating the space reachable under optimal policies. Experimental results show that SARSOP is competitive with the fastest existing point-based algorithm on many standard test problems and faster by many times on some. ©2008 IEEE.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/ROBOT.2008.4543611
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentCOMPUTER SCIENCE
dc.description.doi10.1109/ROBOT.2008.4543611
dc.description.sourcetitleProceedings - IEEE International Conference on Robotics and Automation
dc.description.page2644-2650
dc.description.codenPIIAE
dc.identifier.isiut000258095001221
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