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dc.contributor.authorEgerstedt, Magnus B.en_US
dc.contributor.authorHristu-Varsakelis, Dimotriosen_US
dc.date.accessioned2011-04-22T13:54:28Z
dc.date.available2011-04-22T13:54:28Z
dc.date.issued2002-12
dc.identifier.citationM. Egerstedt and D. Hristu-Varsakelis. Observability and Policy Optimization for Mobile Robots. IEEE Conference on Decision and Control, Las Vegas, NV, Dec. 2002.en_US
dc.identifier.issn0191-2216
dc.identifier.urihttp://hdl.handle.net/1853/38688
dc.description(c) 2002 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionDigital Object Identifier : 10.1109/CDC.2002.1184920en_US
dc.description.abstractThis paper considers the use of abstract descriptions of motion control programs and of the environment, and explores some new problems of system theoretic interest that arise as a result. Wc study the problem of active localization for a mobile robot moving on a sparsely-described uncertain environment and show how that problem can be posed as that of observability of a finite automaton. We present algorithms (based on Hidden Markov Models) that answer the question of i) whether or not a representation of the environment (in the form of a directed graph) is observable, and ii) what is the shortest navigation policy that allows the robot to uniquely identify its location on the graph.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectMotion controlen_US
dc.subjectMobile robotsen_US
dc.subjectHidden Markov modelsen_US
dc.titleObservability and Policy Optimization for Mobile Robotsen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameUniversity of Maryland (College Park, Md.). Institute for Systems Researchen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US


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