Exploiting Fully Observable and Deterministic Structures in Goal POMDPs
Warnquist, Håkan Kvarnström, Jonas Doherty, Patrick 2013 (English)In: Proceedings of the 23rd International Conference on Automated Planning and Scheduling (ICAPS) / [ed] Daniel Borrajo, Subbarao Kambhampati, Angelo Oddi, Simone Fratini, AAAI Press, 2013Conference paper, Presentation (Refereed)
When parts of the states in a goal POMDP are fully observable and some actions are deterministic it is possibleto take advantage of these properties to efficiently generate approximate solutions. Actions that deterministically affect the fully observable component of the world state can be abstracted away and combined into macro actions, permitting a planner to converge more quickly. This processing can be separated from the main search procedure, allowing us to leverage existing POMDP solvers. Theoretical results show how a POMDP can be analyzed to identify the exploitable properties and formal guarantees are provided showing that the use of macro actions preserves solvability. The efficiency of the method is demonstrated with examples when used in combination with existing POMDP solvers.
National CategoryComputer Science
IdentifiersURN: urn:nbn:se:liu:diva-88637ISBN: 978-1-57735-609-7OAI: oai:DiVA.org:liu-88637DiVA: diva2:605391
23rd International Conference on Automated Planning and Scheduling (ICAPS 2013), 10-14 June 2013, Rom, Italy