Belief Space Partitioning for Symbolic Motion Planning
Mengxue Hou Tony X. Lin Haomin Zhou Wei Zhang Catherine R. Edwards Fumin Zhang Mengxue Hou Tony X. Lin Haomin Zhou Wei Zhang Catherine R. Edwards Fumin Zhang
We propose a memory-constrained partition-based method to extract symbolic representations of the belief state and its dynamics in order to solve planning problems in a partially observable Markov decision process (POMDP). Our K-means partitioning strategy uses a fixed number of symbols to represent the partitions of the belief space and ensures the parameterization of the belief dynamics does not...