Feasibility study of pomdp in autonomous amphibious vehicle guidance

Shankarachary Ragi; Ching Seong Tan; Edwin K.P. Chong

doi:10.3182/20130626-3-AU-2035.00042

Feasibility study of pomdp in autonomous amphibious vehicle guidance

Shankarachary Ragi, Ching Seong Tan, Edwin K.P. Chong

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

We develop a path-planning method, based on the theory of partially observable Markov decision process (POMDP), to guide an autonomous amphibious vehicle (AAV) to reach/rescue a victim in a flood situation. In practice, POMDP problems are hard to solve exactly, so we use an approximation method called nominal belief-state optimization (NBO). We compare the performance of the NBO approach with a greedy approach.

Original language	English
Title of host publication	7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013 - Proceedings
Publisher	IFAC Secretariat
Pages	85-90
Number of pages	6
Edition	PART 1
ISBN (Print)	9783902823366
DOIs	https://doi.org/10.3182/20130626-3-AU-2035.00042
Publication status	Published - 2013
Externally published	Yes
Event	8th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013 - Gold Coast, QLD, Australia Duration: 26 Jun 2013 → 28 Jun 2013

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	PART 1
Volume	8
ISSN (Print)	1474-6670

Conference

Conference	8th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013
Country/Territory	Australia
City	Gold Coast, QLD
Period	26/06/13 → 28/06/13

Keywords

Autonomous mobile robots
Intelligent control
Path planning

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20130626-3-AU-2035.00042

Cite this

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title = "Feasibility study of pomdp in autonomous amphibious vehicle guidance",

abstract = "We develop a path-planning method, based on the theory of partially observable Markov decision process (POMDP), to guide an autonomous amphibious vehicle (AAV) to reach/rescue a victim in a flood situation. In practice, POMDP problems are hard to solve exactly, so we use an approximation method called nominal belief-state optimization (NBO). We compare the performance of the NBO approach with a greedy approach.",

keywords = "Autonomous mobile robots, Intelligent control, Path planning",

author = "Shankarachary Ragi and Tan, {Ching Seong} and Chong, {Edwin K.P.}",

year = "2013",

doi = "10.3182/20130626-3-AU-2035.00042",

language = "English",

isbn = "9783902823366",

series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",

publisher = "IFAC Secretariat",

number = "PART 1",

pages = "85--90",

booktitle = "7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013 - Proceedings",

address = "Austria",

edition = "PART 1",

note = "8th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013 ; Conference date: 26-06-2013 Through 28-06-2013",

}

Ragi, S, Tan, CS & Chong, EKP 2013, Feasibility study of pomdp in autonomous amphibious vehicle guidance. in 7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013 - Proceedings. PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 8, IFAC Secretariat, pp. 85-90, 8th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013, Gold Coast, QLD, Australia, 26/06/13. https://doi.org/10.3182/20130626-3-AU-2035.00042

Feasibility study of pomdp in autonomous amphibious vehicle guidance. / Ragi, Shankarachary; Tan, Ching Seong; Chong, Edwin K.P.
7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013 - Proceedings. PART 1. ed. IFAC Secretariat, 2013. p. 85-90 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 8, No. PART 1).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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T1 - Feasibility study of pomdp in autonomous amphibious vehicle guidance

AU - Ragi, Shankarachary

AU - Tan, Ching Seong

AU - Chong, Edwin K.P.

PY - 2013

Y1 - 2013

N2 - We develop a path-planning method, based on the theory of partially observable Markov decision process (POMDP), to guide an autonomous amphibious vehicle (AAV) to reach/rescue a victim in a flood situation. In practice, POMDP problems are hard to solve exactly, so we use an approximation method called nominal belief-state optimization (NBO). We compare the performance of the NBO approach with a greedy approach.

AB - We develop a path-planning method, based on the theory of partially observable Markov decision process (POMDP), to guide an autonomous amphibious vehicle (AAV) to reach/rescue a victim in a flood situation. In practice, POMDP problems are hard to solve exactly, so we use an approximation method called nominal belief-state optimization (NBO). We compare the performance of the NBO approach with a greedy approach.

KW - Autonomous mobile robots

KW - Intelligent control

KW - Path planning

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U2 - 10.3182/20130626-3-AU-2035.00042

DO - 10.3182/20130626-3-AU-2035.00042

M3 - Conference contribution

AN - SCOPUS:84885587446

SN - 9783902823366

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

SP - 85

EP - 90

BT - 7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013 - Proceedings

PB - IFAC Secretariat

T2 - 8th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013

Y2 - 26 June 2013 through 28 June 2013

ER -

Feasibility study of pomdp in autonomous amphibious vehicle guidance

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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