Plug'n Play Task-Level Autonomy for Robotics Using POMDPs and Probabilistic Programs

We describe AOS, the first general-purpose system for model-based control of autonomous robots using AI planning that fully supports partial observability and noisy sensing. The AOS provides a code-based language for specifying a generative model of the system, making model specification easier and...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 9; no. 1; pp. 587 - 594
Main Authors:	Wertheim, Or, Suissa, Dan R., Brafman, Ronen I.
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.01.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	AI-enabled robotics Artificial intelligence Autonomous agents Autonomy Centralized control Codes integrated planning and control Modular design Modular systems Motion control Noise measurement Planning planning under uncertainty Plugs Robot control Robot sensing systems Robotics Sensors software architecture for robotic and automation Systems design
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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