Artificial intelligence (2nd ed.)
Artificial intelligence (2nd ed.)
The complexity of Markov decision processes
Mathematics of Operations Research
A survey of algorithmic methods for partially observed Markov decision processes
Annals of Operations Research
Planning and acting in partially observable stochastic domains
Artificial Intelligence
Xavier: a robot navigation architecture based on partially observable Markov decision process models
Artificial intelligence and mobile robots
The saphira architecture for autonomous mobile robots
Artificial intelligence and mobile robots
Monte Carlo localization: efficient position estimation for mobile robots
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Markov Decision Processes: Discrete Stochastic Dynamic Programming
Markov Decision Processes: Discrete Stochastic Dynamic Programming
An open agent architecture for assisting elder independence
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 2
Improved Occupancy Grids for Map Building
Autonomous Robots
Experiences with a mobile robotic guide for the elderly
Eighteenth national conference on Artificial intelligence
Dynamic Programming
The Witness Algorithm: Solving Partially Observable Markov Decision Processes
The Witness Algorithm: Solving Partially Observable Markov Decision Processes
Optimal Policies for Partially Observable Markov Decision Processes
Optimal Policies for Partially Observable Markov Decision Processes
Finding approximate pomdp solutions through belief compression
Finding approximate pomdp solutions through belief compression
Journal of Intelligent and Robotic Systems
Point-based value iteration: an anytime algorithm for POMDPs
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Estimating the absolute position of a mobile robot using position probability grids
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Low level controller for a POMDP based on WiFi observations
Robotics and Autonomous Systems
Real-time stereo visual SLAM in large-scale environments based on SIFT fingerprints
EUROCAST'07 Proceedings of the 11th international conference on Computer aided systems theory
Real-time hierarchical stereo Visual SLAM in large-scale environments
Robotics and Autonomous Systems
How the Location of the Range Sensor Affects EKF-based Localization
Journal of Intelligent and Robotic Systems
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Assistant robots have received special attention from the research community in the last years. One of the main applications of these robots is to perform care tasks in indoor environments such as houses, nursing homes or hospitals, and therefore they need to be able to navigate robustly for long periods of time. This paper focuses on the navigation system of SIRA, a robotic assistant for elderly and/or blind people based on a Partially Observable Markov Decision Process (POMDP) to global localize the robot and to direct its goal-oriented actions. The main novel feature of our approach is that it combines sonar and visual information in a natural way to produce state transitions and observations in the framework of Markov Decision Processes. Besides this multisensorial fusion, a two-level layered planning architecture that combines several planning objectives (such as guiding to a goal room and reducing locational uncertainty) improves the robustness of the navigation system, as it's shown in our experiments with SIRA navigating corridors.