HyP-DESPOT: A hybrid parallel algorithm for online planning under uncertainty
نویسندگان
چکیده
منابع مشابه
HyP-DESPOT: A Hybrid Parallel Algorithm for Online Planning under Uncertainty
Planning under uncertainty is critical for robust robot performance in uncertain, dynamic environments, but it incurs high computational cost. State-of-the-art online search algorithms, such as DESPOT, have vastly improved the computational efficiency of planning under uncertainty and made it a valuable tool for robotics in practice. This work takes one step further by leveraging both CPU and G...
متن کاملImportance Sampling for Online Planning under Uncertainty
The partially observable Markov decision process (POMDP) provides a principled general framework for robot planning under uncertainty. Leveraging the idea of Monte Carlo sampling, recent POMDP planning algorithms have scaled up to various challenging robotic tasks, including, e.g., real-time online planning for autonomous vehicles. To further improve online planning performance, this paper pres...
متن کاملDESPOT: Online POMDP Planning with Regularization
POMDPs provide a principled framework for planning under uncertainty, but are computationally intractable, due to the “curse of dimensionality” and the “curse of history”. This paper presents an online search algorithm that alleviates these difficulties by focusing on a set of sampled scenarios. The execution of all policies on the sampled scenarios is captured in a Determinized Sparse Partiall...
متن کاملConsidering a Model for Sustainable Energy Planning Under Uncertainty
In this paper, real options theory is utilized to evaluate the effect of uncertain electricity and CO2 costs on speculation conduct. Methodologically, the allegiance of the newspaper in this appreciation is that uncertainty is not just stopped down as far as stochastic processes and their fluctuation, additionally as far as expected and acknowledged procedures, i.e. the procedures, w...
متن کاملA hybrid solution approach for a multi-objective closed-loop logistics network under uncertainty
The design of closed-loop logistics (forward and reverse logistics) has attracted growing attention with the stringent pressures of customer expectations, environmental concerns and economic factors. This paper considers a multi-product, multi-period and multi-objective closed-loop logistics network model with regard to facility expansion as a facility location–allocation problem, which more cl...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2020
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364920937074