This paper presents a receding horizon planning algorithm for vision-based navigation using bearings-only SLAM that adapts the planning horizon to the velocity of the information gained about the environment. Bearings-only SLAM has an inherent dynamic observability property such that specific motion is needed in order to determine the relative positions between the camera and obstacles. Thus, t...

In this paper, we propose to combine imitation and reinforcement learning via the idea of reward shaping using an oracle. We study the effectiveness of the nearoptimal cost-to-go oracle on the planning horizon and demonstrate that the costto-go oracle shortens the learner’s planning horizon as function of its accuracy: a globally optimal oracle can shorten the planning horizon to one, leading t...

This paper compares the implications of short and long horizon planning in dynamic optimization problems with the structure of a standard one-sector growth model if agents have incomplete knowledge about the production function. Agents know the output and rate of return at the current capital stock and use an estimation of the production function based on this knowledge to determine current con...

Forecast horizons are de ned as long enough planning horizons that ensure agreement of rst period optimal production decisions of nite and in nite horizon problems regardless of changes in future demand. In this paper, we prove forecast horizon existence and provide computational procedures for production planning problems that satisfy the following monotonicity property: for any xed nite plann...

Evidence suggests that maternal and offspring smoking behaviour is correlated. Little is known about the mechanisms through which this intergenerational transfer occurs. This paper explores the role of time preferences. Although time preference is likely to be heritable and correlated with health investments, its role in the intergenerational transmission of smoking has not been explored previo...

For Markov decision processes with long horizons (i.e., discount factors close to one), it is common in practice to use reduced horizons during planning to speed computation. However, perhaps surprisingly, when the model available to the agent is estimated from data, as will be the case in most real-world problems, the policy found using a shorter planning horizon can actually be better than a ...

we present an improved implementation of the wagner-whitin algorithm for economic lot-sizing problems based on the planning-horizon theorem and the economic- part-period concept. the proposed method of this paper reduces the burden of the computations significantly in two different cases. we first assume there is no backlogging and inventory holding and set-up costs are fixed. the second model ...

The rolling horizon method has been proposed to address the integrated production planning and scheduling optimization problem. Since the method can generally result in small-scale optimization model and fast solution, it has been used in a number of applications in realistic industrial planning and scheduling problems. In this paper, it is first pointed out that the incorporation of valid prod...