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A Slices Perspective for Incremental Nonparametric Inference in High Dimensional State Spaces
Moshe Shienman, Ohad Levy-Or, Michael Kaess +1
We introduce an innovative method for incremental nonparametric probabilistic inference in high-dimensional state spaces. Our approach leverages \slices from high-dimensional surfa…
Monte Carlo Planning in Hybrid Belief POMDPs
Moran Barenboim, Moshe Shienman, Vadim Indelman
Real-world problems often require reasoning about hybrid beliefs, over both discrete and continuous random variables. Yet, such a setting has hardly been investigated in the contex…
Nonmyopic Distilled Data Association Belief Space Planning Under Budget Constraints
Moshe Shienman, Vadim Indelman
Autonomous agents operating in perceptually aliased environments should ideally be able to solve the data association problem. Yet, planning for future actions while considering th…
D2A-BSP: Distilled Data Association Belief Space Planning with Performance Guarantees Under Budget Constraints
Moshe Shienman, Vadim Indelman
Unresolved data association in ambiguous and perceptually aliased environments leads to multi-modal hypotheses on both the robot's and the environment state. To avoid catastrophic…