Dynamic Replanning with Posterior Sampling
Brian Hou,Siddhartha S. Srinivasa,Brian Hou,Siddhartha S. Srinivasa
When navigating to a goal in an uncertain environment, a robot must simultaneously navigate the exploration-exploitation tradeoff: should it aim to gain information and reduce uncertainty, or should it simply brave the unknown? We formalize this as the Bayesian dynamic motion planning problem, and we analyze how several strategies from the literature balance these concerns via determinization and ...
