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Title: Monte Carlo value iteration for continuous-state POMDPs
Authors: Bai, H.
Hsu, D. 
Lee, W.S. 
Ngo, V.A. 
Issue Date: 2010
Citation: Bai, H.,Hsu, D.,Lee, W.S.,Ngo, V.A. (2010). Monte Carlo value iteration for continuous-state POMDPs. Springer Tracts in Advanced Robotics 68 (STAR) : 175-191. ScholarBank@NUS Repository.
Abstract: Partially observable Markov decision processes (POMDPs) have been successfully applied to various robot motion planning tasks under uncertainty. However, most existing POMDP algorithms assume a discrete state space, while the natural state space of a robot is often continuous. This paper presents Monte Carlo Value Iteration (MCVI) for continuous-state POMDPs. MCVI samples both a robot's state space and the corresponding belief space, and avoids inefficient a priori discretization of the state space as a grid. Both theoretical results and preliminary experimental results indicate that MCVI is a promising new approach for robot motion planning under uncertainty. © 2010 Springer-Verlag Berlin Heidelberg.
Source Title: Springer Tracts in Advanced Robotics
ISBN: 9783642174513
ISSN: 16107438
DOI: 10.1007/978-3-642-17452-0_11
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