An online and approximate solver for POMDPs with continuous action space
Konstantin M. Seiler, Hanna Kurniawati, Surya P. N. Singh
Abstract
For agile, accurate autonomous robotics, it is desirable to plan motion in the presence of uncertainty. The Partially Observable Markov Decision Process (POMDP) provides a principled framework for this. Despite the tremendous advances of POMDP-based planning, most can only solve problems with a small and discrete set of actions. This paper presents General Pattern Search in Adaptive Belief Tree (GPS-ABT), an approximate and online POMDP solver for problems with continuous action spaces. Generalized Pattern Search (GPS) is used as a search strategy for action selection. Under certain conditions, GPS-ABT converges to the optimal solution in probability. Results on a box pushing and an extended Tag benchmark problem are promising.
BibTeX
@inproceedings{icra2015_anonlineandappro,
title = {An online and approximate solver for POMDPs with continuous action space},
author = {Konstantin M. Seiler and Hanna Kurniawati and Surya P. N. Singh},
booktitle = {ICRA 2015},
year = {2015}
}