Autonomous search and rescue rotorcraft mission stochastic planning with generic DBNs

This paper proposes an original generic hierarchical framework in order to facilitate the modeling stage of complex autonomous robotics mission planning problems with action uncertainties. Such stochastic planning problems can be modeled as Markov Decision Processes [5]. This work is motivated by a...

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Detalles Bibliográficos
Autores principales: Fabiani, Patrick, Teichteil-Königsbuch, Florent
Formato: Objeto de conferencia
Lenguaje:Inglés
Publicado: 2006
Materias:
Ciencias Informáticas
Robotics
Frameworks
Hierarchical
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/23975
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-23975
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ciencias Informáticas
Robotics
Frameworks
Hierarchical
spellingShingle Ciencias Informáticas
Robotics
Frameworks
Hierarchical
Fabiani, Patrick
Teichteil-Königsbuch, Florent
Autonomous search and rescue rotorcraft mission stochastic planning with generic DBNs
topic_facet Ciencias Informáticas
Robotics
Frameworks
Hierarchical
description This paper proposes an original generic hierarchical framework in order to facilitate the modeling stage of complex autonomous robotics mission planning problems with action uncertainties. Such stochastic planning problems can be modeled as Markov Decision Processes [5]. This work is motivated by a real application to autonomous search and rescue rotorcraft within the ReSSAC1 project at ONERA. As shown in Figure 1.a, an autonomous rotorcraft must y and explore over regions, using waypoints, and in order to nd one (roughly localized) person per region (dark small areas). Uncertainties can come from the unpredictability of the environment (wind, visibility) or from a partial knowledge of it: map of obstacles, or elevation map etc. After a short presentation of the framework of structured Markov Decision Processes (MDPs), we present a new original hierarchical MDP model based on generic Dynamic Bayesian Network templates. We illustrate the bene ts of our approach on the basis of search and rescue missions of the ReSSAC project.
format Objeto de conferencia
Objeto de conferencia
author Fabiani, Patrick
Teichteil-Königsbuch, Florent
author_facet Fabiani, Patrick
Teichteil-Königsbuch, Florent
author_sort Fabiani, Patrick
title Autonomous search and rescue rotorcraft mission stochastic planning with generic DBNs
title_short Autonomous search and rescue rotorcraft mission stochastic planning with generic DBNs
title_full Autonomous search and rescue rotorcraft mission stochastic planning with generic DBNs
title_fullStr Autonomous search and rescue rotorcraft mission stochastic planning with generic DBNs
title_full_unstemmed Autonomous search and rescue rotorcraft mission stochastic planning with generic DBNs
title_sort autonomous search and rescue rotorcraft mission stochastic planning with generic dbns
publishDate 2006
url http://sedici.unlp.edu.ar/handle/10915/23975
work_keys_str_mv AT fabianipatrick autonomoussearchandrescuerotorcraftmissionstochasticplanningwithgenericdbns
AT teichteilkonigsbuchflorent autonomoussearchandrescuerotorcraftmissionstochasticplanningwithgenericdbns
bdutipo_str Repositorios
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