Speeding up POMDP Planning via Simplification
Ori Sztyglic,Vadim Indelman,Ori Sztyglic,Vadim Indelman
In this paper, we consider online planning in par-tially observable domains. Solving the corresponding POMDP problem is a very challenging task, particularly in an online setting. Our key contribution is a novel algorithmic approach, Simplified Information Theoretic Belief Space Planning (SITH-BSP), which aims to speed up POMDP planning considering belief-dependent rewards, without compromising th...
