The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We present a heuristic-based propagation algorithm for solving Markov decision processes (MDPs). Our approach, which combines ideas from deterministic search and recent dynamic programming methods, focusses computation towards promising areas of the state space. It is thus able to significantly reduce the amount of processing required in producing a solution. We present a number of results comparing our approach to existing algorithms on a robotic path planning domain.

Keywords

path planning, MDPs

Notes

Text Reference

David Ferguson and Anthony (Tony) Stentz, "Focussed Dynamic Programming: Extensive Comparative Results," tech. report CMU-RI-TR-04-13, Robotics Institute, Carnegie Mellon University, March, 2004

BibTeX Reference

@techreport{Ferguson_2004_4622,
   author = "David Ferguson and Anthony (Tony) Stentz",
   title = "Focussed Dynamic Programming: Extensive Comparative Results",
   booktitle = "",
   institution = "Robotics Institute",
   month = "March",
   year = "2004",
   number= "CMU-RI-TR-04-13",
   address= "Pittsburgh, PA",
}

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