Partially Observable Markov Decision Processes in Robotics A Survey

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A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
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2023-02-01

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Department of Electrical Engineering and Automation

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en

Pages

20

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IEEE Transactions on Robotics, Volume 39, issue 1, pp. 21-40

Abstract

Noisy sensing, imperfect control, and environment changes are defining characteristics of many real-world robot tasks. The partially observable Markov decision process (POMDP) provides a principled mathematical framework for modeling and solving robot decision and control tasks under uncertainty. Over the last decade, it has seen many successful applications, spanning localization and navigation, search and tracking, autonomous driving, multi-robot systems, manipulation, and human-robot interaction. This survey aims to bridge the gap between the development of POMDP models and algorithms at one end and application to diverse robot decision tasks at the other. It analyzes the characteristics of these tasks and connects them with the mathematical and algorithmic properties of the POMDP framework for effective modeling and solution. For practitioners, the survey provides some of the key task characteristics in deciding when and how to apply POMDPs to robot tasks successfully. For POMDP algorithm designers, the survey provides new insights into the unique challenges of applying POMDPs to robot systems and points to promising new directions for further research.

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Publisher Copyright: IEEE

Keywords

AI-based methods, autonomous agents, Markov processes, partially observable Markov decision process (POMDP), Planning, planning under uncertainty, Robot kinematics, Robot sensing systems, Robots, scheduling and coordination, Task analysis, Uncertainty

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DOI

10.1109/TRO.2022.3200138

Citation

Lauri, M, Hsu, D & Pajarinen, J 2023, 'Partially Observable Markov Decision Processes in Robotics A Survey', IEEE Transactions on Robotics, vol. 39, no. 1, pp. 21-40. https://doi.org/10.1109/TRO.2022.3200138

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https://urn.fi/URN:NBN:fi:aalto-202210266238

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[article-cris] Sähkötekniikan korkeakoulu / ELEC