Belief Space Partitioning for Symbolic Motion Planning
Mengxue Hou,Tony X. Lin,Haomin Zhou,Wei Zhang,Catherine R. Edwards,Fumin Zhang,Mengxue Hou,Tony X. Lin,Haomin Zhou,Wei Zhang,Catherine R. Edwards,Fumin Zhang
We propose a memory-constrained partition-based method to extract symbolic representations of the belief state and its dynamics in order to solve planning problems in a partially observable Markov decision process (POMDP). Our K-means partitioning strategy uses a fixed number of symbols to represent the partitions of the belief space and ensures the parameterization of the belief dynamics does not...
