A PDDL+-based hybrid task and motion planner computes Kalman-filter belief updates during search and produces uncertainty-aware navigation plans for a mobile robot in a simulated corridor.
Dantam, Zachary K
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Task-assisted Motion Planning in Partially Observable Domains
A PDDL+-based hybrid task and motion planner computes Kalman-filter belief updates during search and produces uncertainty-aware navigation plans for a mobile robot in a simulated corridor.