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Abstract: We study goal-directed navigation tasks in mazes, where the robots know the maze but do not know their initial pose (position and orientation). These search tasks can be modeled as planning tasks in large non-deterministic domains whose states are sets of poses. They can be solved efficiently by interleaving planning and plan execution, which can reduce the sum of planning and plan-execution time because it allows the robots to gather information early. We show how Min-Max LRTA*, a real-time... (Update)
Context of citations to this paper: More
...and Zilberstein, 1998; Poupart and Boutilier, 2000] GPT follows this approach. Methods that interleave planning and execution [Koenig and Simmons, 1998; Genesereth and Nourbakhsh, 1993] can be considered alternative (and orthogonal) approaches to the problem of planning off...
.... addressed by di erent techniques, see, e.g. Pryor Collins, 1996; Weld et al. 1998; Bonet Ge ner, 2000; Rintanen, 1999a; Koenig Simmons, 1998; Tovey Koenig, 2000 ] A limit case of planning under partial observability is conformant planning, where the assumption is...
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BibTeX entry: (Update)
Koenig, S. and Simmons, R.G. 1998. Solving robot navigation problems with initial pose uncertainty using real-time heuristic search. In Proceedings of the International Conference on Artificial Intelligence Planning Systems. 154--153. http://citeseer.ist.psu.edu/koenig98solving.html More
@inproceedings{ koenig98solving,
author = "Sven Koenig and Reid G. Simmons",
title = "Solving Robot Navigation Problems with Initial Pose Uncertainty Using Real-Time Heuristic Search",
booktitle = "Artificial Intelligence Planning Systems",
pages = "145-153",
year = "1998",
url = "citeseer.ist.psu.edu/koenig98solving.html" }
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137 Do the Right Thing -- Studies in Limited Rationality (context) - Russell, Wefald - 1991
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64 Algorithms for Sequential Decision Making - Littman - 1996
61 Linear-space best-first search (context) - Korf - 1993
45 The Design and Analysis of Efficient Learning Algorithms (context) - Schapire - 1992
39 algorithm for realtime replanning (context) - Stentz, The - 1995
30 Twenty-seven principles of rationality (context) - Good - 1971
25 Real-time search in non-deterministic domains - Koenig, Simmons - 1995
12 Automatic synthesis of fine-motion strategies for robots (context) - Technical, CS- et al. - 1984
11 A robust and fast action selection mechanism (context) - Bonet, Loerincs et al. - 1997
10 The loss from imperfect value functions in expectation-based.. (context) - Heger - 1996
2 Real-time heuristic search (context) - second, Korf - 1990
2 Interleaving Planning and Execution (context) - Nourbakhsh - 1996
1 Heuristics: Intelligent Search Strategies for Computer Probl.. (context) - Dissertation, Computer et al. - 1985
1 Time-saving tips for problem solving with incomplete informa.. (context) - Intelligence, -- et al. - 1993
1 Teaching AI with robots (context) - Nourbakhsh, Genesereth - 1997
1 Goal-Directed Acting with Incomplete Information (context) - Koenig - 1997
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