Efficient Multi-scale POMDPs for Robotic Object Search and Delivery
Luc Holzherr Julian Förster Michel Breyer Juan Nieto Roland Siegwart Jen Jen Chung Luc Holzherr Julian Förster Michel Breyer Juan Nieto Roland Siegwart Jen Jen Chung
We present a novel hierarchical POMDP framework to solve an object search and delivery task where the agent is given a prior belief about the possible item locations. Solving POMDPs is computationally demanding and, as such, applications have typically been limited to small environments. The proposed hierarchical POMDP framework performs reasoning on multiple spatial scales in order to reduce comp...