Towards a Meta Motion Planner B: Algorithm and Applications

In ci componioiz paper [l] we have developed a frame,work fo,r rating 01‘ comparing navigation packages. For a giuen enuir.onment a navigation package consists of (I motion planner and a sensor to be used during nauigation. The cibility to rate or measure a navigation package is aniportant in order to address issues like sensor custom%zution for an environment and choice of a m.otion plarumr in an environment. In this poper ‘we present th.e nlgorathm. irhich, we use i n or.der to rate a given navigation package. Under the franiezuo,rk ,which was presented in [l], a partially observable Markov decision process (POMDP) is defind. The algorrtlim searches for an optimal policy to be employed in this decision process. We briefly reriiew the problem and the framework, develop the crlgor~ith~m, an,d present experimental results.