PAO* for planning with hidden state.

D. Ferguson, T. Stentz, and S. Thrun.

We describe a heuristic search algorithm for generating optimal plans in a new class of decision problem, characterised by the incorporation of hidden state. The approach exploits the nature of the hidden state to reduce the state space by orders of magnitude. It then interleaves heuristic expansion of the reduced space with forwards and backwards propagation phases to produce a solution in a fraction of the time required by other techniques. Results are provided on an outdoor path planning application.

The full paper is available in PDF and gzipped Postscript

@INPROCEEDINGS{Ferguson04a,
  AUTHOR	= {Ferguson, D. and Stentz, T. and S. Thrun},
  TITLE		= {{PAO*} for Planning with Hidden State},
  YEAR		= {2004},
  BOOKTITLE     = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)}
}