caa a22 4500 60551464X CHVBK 20210128100705.0 cr unu---uuuuu 210128e20151101xx s 000 0 eng 10.1007/s10458-014-9279-8 doi (NATIONALLICENCE)springer-10.1007/s10458-014-9279-8 Decision-theoretic planning under uncertainty with information rewards for active cooperative perception [Elektronische Daten] [Matthijs Spaan, Tiago Veiga, Pedro Lima] Partially observable Markov decision processes (POMDPs) provide a principled framework for modeling an agent's decision-making problem when the agent needs to consider noisy state estimates. POMDP policies take into account an action's influence on the environment as well as the potential information gain. This is a crucial feature for robotic agents which generally have to consider the effect of actions on sensing. However, building POMDP models which reward information gain directly is not straightforward, but is important in domains such as robot-assisted surveillance in which the value of information is hard to quantify. Common techniques for uncertainty reduction such as expected entropy minimization lead to non-standard POMDPs that are hard to solve. We present the POMDP with Information Rewards (POMDP-IR) modeling framework, which rewards an agent for reaching a certain level of belief regarding a state feature. By remaining in the standard POMDP setting we can exploit many known results as well as successful approximate algorithms. We demonstrate our ideas in a toy problem as well as in real robot-assisted surveillance, showcasing their use for active cooperative perception scenarios. Finally, our experiments show that the POMDP-IR framework compares favorably with a related approach on benchmark domains. The Author(s), 2014 Active cooperative perception nationallicence Planning under uncertainty for robots nationallicence Partially observable Markov decision processes nationallicence Spaan Matthijs Delft University of Technology, Delft, The Netherlands aut Veiga Tiago Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal aut Lima Pedro Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal aut Autonomous Agents and Multi-Agent Systems Springer US; http://www.springer-ny.com 29/6(2015-11-01), 1157-1185 1387-2532 29:6<1157 2015 29 10458 https://doi.org/10.1007/s10458-014-9279-8 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s10458-014-9279-8 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Spaan Matthijs Delft University of Technology, Delft, The Netherlands aut NATIONALLICENCE 700 1- Veiga Tiago Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal aut NATIONALLICENCE 700 1- Lima Pedro Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal aut NATIONALLICENCE 773 0- Autonomous Agents and Multi-Agent Systems Springer US; http://www.springer-ny.com 29/6(2015-11-01), 1157-1185 1387-2532 29:6<1157 2015 29 10458