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2004

Heuristic Search Value Iteration for POMDPs

13 years 5 months ago
Heuristic Search Value Iteration for POMDPs
We present a novel POMDP planning algorithm called heuristic search value iteration (HSVI). HSVI is an anytime algorithm that returns a policy and a provable bound on its regret with respect to the optimal policy. HSVI gets its power by combining two well-known techniques: attention-focusing search heuristics and piecewise linear convex representations of the value function. HSVI's soundness and convergence have been proven. On some benchmark problems from the literature, HSVI displays speedups of greater than 100 with respect to other state-of-the-art POMDP value iteration algorithms. We also apply HSVI to a new rover exploration problem 10 times larger than most POMDP problems in the literature.
Trey Smith, Reid G. Simmons
Added 31 Oct 2010
Updated 31 Oct 2010
Type Conference
Year 2004
Where UAI
Authors Trey Smith, Reid G. Simmons
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