Title:
Hierarchical Decision Theoretic Planning for Navigation Among Movable Obstacles
Hierarchical Decision Theoretic Planning for Navigation Among Movable Obstacles
| dc.contributor.author | Levihn, Martin | |
| dc.contributor.author | Scholz, Jonathan | |
| dc.contributor.author | Stilman, Mike | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.date.accessioned | 2012-07-19T23:01:33Z | |
| dc.date.available | 2012-07-19T23:01:33Z | |
| dc.date.issued | 2012-06 | |
| dc.description | Presented at the Tenth International Workshop on the Algorithmic Foundations of Robotics (WAFR 2012), 13-15 June 2012, Cambridge, MA. | en_US |
| dc.description.abstract | In this paper we present the first decision theoretic planner for the problem of Navigation Among Movable Obstacles (NAMO). While efficient planners for NAMO exist, they are challenging to implement in practice due to the inherent uncertainty in both perception and control of real robots. Generalizing existing NAMO planners to nondeterministic domains is particularly difficult due to the sensitivity of MDP methods to task dimensionality. Our work addresses this challenge by combining ideas from Hierarchical Reinforcement Learning with Monte Carlo Tree Search, and results in an algorithm that can be used for fast online planning in uncertain environments. We evaluate our algorithm in simulation, and provide a theoretical argument for our results which suggest linear time complexity in the number of obstacles for typical environments. | en_US |
| dc.identifier.citation | Levihn, M., Scholz, J., & Stilman, M. (2012). “Hierarchical Decision Theoretic Planning for Navigation Among Movable Obstacles”. Proceedings of the Tenth International Workshop on the Algorithmic Foundations of Robotics (WAFR 2012), 13-15 June 2012. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/44348 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | Motion planning | en_US |
| dc.subject | Navigation among movable obstacles | en_US |
| dc.subject | Path planning | en_US |
| dc.title | Hierarchical Decision Theoretic Planning for Navigation Among Movable Obstacles | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | Humanoid Robotics Laboratory | |
| relation.isOrgUnitOfPublication | 05bf85fb-965e-425d-af8b-dbf56e0d9797 |