Towards a meta motion planner B: Algorithm and applications

A. Adam, E. Rivlin, I. Shimshoni

Research output: Contribution to journalConference articlepeer-review


In a companion paper we have developed a framework for rating or comparing 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. In this paper we present the algorithm which we use in order to rate a given navigation package. Under the framework which was presented in [1], a partially observable Markov decision process (POMDP) is defined. The algorithm searches for an optimal policy to be employed in this decision process. We briefly review the problem and the framework, develop the algorithm and present experimental results.

Original languageEnglish
Pages (from-to)291-298
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2001
Externally publishedYes
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 21 May 200126 May 2001

ASJC Scopus subject areas

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


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