Uncertainty in Artificial Intelligence
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Policy-contingent abstraction for robust robot control
Joelle Pineau, Geoffrey Gordon, Sebastian Thrun
This paper presents a scalable control algorithm that enables a deployed mobile robot system to make high-level decisions under full consideration of its probabilistic belief. Our approach is based on insights from the rich literature of hierarchical controllers and hierarchical MDPs. The resulting controller has been successfully deployed in a nursing facility near Pittsburgh, PA. To the best of our knowledge, this work is a unique instance of applying POMDPs to high-level robotic control problems
Pages: 477-484
PS Link:
PDF Link: /papers/03/p477-pineau.pdf
AUTHOR = "Joelle Pineau and Geoffrey Gordon and Sebastian Thrun",
TITLE = "Policy-contingent abstraction for robust robot control",
BOOKTITLE = "Proceedings of the Nineteenth Conference Annual Conference on Uncertainty in Artificial Intelligence (UAI-03)",
PUBLISHER = "Morgan Kaufmann",
ADDRESS = "San Francisco, CA",
YEAR = "2003",
PAGES = "477--484"

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