Towards a meta motion planner A: Model and famework

A. Adam, E. Rivlin, I. Shimshoni

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

We address the problem of rating or comparing navigation algorithms, or more generally navigation packages. For a given environment a navigation package consists of a motion planner and a sensor to be used during navigation. The ability to rate or measure a navigation package is important in order to address issues like sensor customization for an environment and choice of a motion planner in an environment. We develop a framework under which we can rate a given navigation package. Based on the navigation package, a partially observable Markov decision process (POMDP) is defined. Next an optimal policy to be used in this POMDP is searched for. The performance achieved under the resulting policy serves to measure the navigation package. This paper presents the motivations for solving the problem, the model we use and the framework which we have developed. An accompanying paper presents the algorithm which we use and some results.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages285-290
Number of pages6
DOIs
StatePublished - 2001
Externally publishedYes
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 21 May 200126 May 2001

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Conference

Conference2001IEEE International Conference on Robotics and Automation (ICRA)
Country/TerritoryKorea, Republic of
CitySeoul
Period21/05/0126/05/01

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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