{"id":"https://openalex.org/W2152907147","doi":"https://doi.org/10.1109/icra.2013.6630559","title":"Automated model approximation for robotic navigation with POMDPs","display_name":"Automated model approximation for robotic navigation with POMDPs","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2152907147","doi":"https://doi.org/10.1109/icra.2013.6630559","mag":"2152907147"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630559","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006191084","display_name":"Devin K. Grady","orcid":null},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Devin Grady","raw_affiliation_strings":["Dept. of Computer Science, Rice University, Houston, TX 77005, USA","Department of Computer Science, Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Rice University, Houston, TX 77005, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061397940","display_name":"Mark Moll","orcid":"https://orcid.org/0000-0002-0451-2797"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Moll","raw_affiliation_strings":["Dept. of Computer Science, Rice University, Houston, TX 77005, USA","Department of Computer Science, Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Rice University, Houston, TX 77005, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Dept. of Computer Science, Rice University, Houston, TX 77005, USA","Department of Computer Science, Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Rice University, Houston, TX 77005, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":3.447,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.94088263,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"78","last_page":"84"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9871000051498413,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.8012733459472656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7413800954818726},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6895843148231506},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6648136377334595},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6586463451385498},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.6484919786453247},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6246182322502136},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6103289723396301},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5143643617630005},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.48769983649253845},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.48354458808898926},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4384883642196655},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.431633323431015},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.43008050322532654},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4223429262638092},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41892462968826294},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.3721693158149719},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.3151686191558838},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.2299736738204956},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17325472831726074},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14083066582679749}],"concepts":[{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.8012733459472656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7413800954818726},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6895843148231506},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6648136377334595},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6586463451385498},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.6484919786453247},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6246182322502136},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6103289723396301},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5143643617630005},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.48769983649253845},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.48354458808898926},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4384883642196655},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.431633323431015},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43008050322532654},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4223429262638092},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41892462968826294},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.3721693158149719},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.3151686191558838},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.2299736738204956},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17325472831726074},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14083066582679749},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2013.6630559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630559","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.299.6677","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.299.6677","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.rice.edu/~mmoll/publications/grady2013automated-model-approximation.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2214249","https://openalex.org/W107848263","https://openalex.org/W1532688806","https://openalex.org/W1563965851","https://openalex.org/W1582204956","https://openalex.org/W1967769980","https://openalex.org/W1988314515","https://openalex.org/W2013573675","https://openalex.org/W2032100464","https://openalex.org/W2065087844","https://openalex.org/W2087179560","https://openalex.org/W2098430818","https://openalex.org/W2099430963","https://openalex.org/W2106237563","https://openalex.org/W2118656144","https://openalex.org/W2126456773","https://openalex.org/W2128371572","https://openalex.org/W2162428884","https://openalex.org/W2168359464","https://openalex.org/W2169294731","https://openalex.org/W2295605012","https://openalex.org/W2336416123","https://openalex.org/W2963889160","https://openalex.org/W6604376967","https://openalex.org/W6631864160","https://openalex.org/W6633696232","https://openalex.org/W6634754081","https://openalex.org/W6636732284","https://openalex.org/W6675657953","https://openalex.org/W6678686410","https://openalex.org/W6683336107"],"related_works":["https://openalex.org/W2999848267","https://openalex.org/W2096013579","https://openalex.org/W52153049","https://openalex.org/W1760611253","https://openalex.org/W1589140671","https://openalex.org/W1515117609","https://openalex.org/W4323315247","https://openalex.org/W131709709","https://openalex.org/W2294884454","https://openalex.org/W3169161914"],"abstract_inverted_index":{"Partially-Observable":[0],"Markov":[1],"Decision":[2],"Processes":[3],"(POMDPs)":[4],"are":[5],"a":[6,38,51,63,79,85,122],"problem":[7],"class":[8],"with":[9,87,99],"significant":[10,100,139],"applicability":[11],"to":[12,36,62,93,120],"robotics":[13],"when":[14],"considering":[15],"the":[16,20,94,114,126,146],"uncertainty":[17],"present":[18],"in":[19],"real":[21],"world,":[22],"however,":[23],"they":[24],"quickly":[25],"become":[26],"intractable":[27],"for":[28],"large":[29],"state":[30,68],"and":[31,48,59,69,142],"action":[32,43,81,96],"spaces.":[33],"A":[34],"method":[35,76],"create":[37],"less":[39],"complex":[40,119],"but":[41],"accurate":[42],"model":[44,82,109,116],"approximation":[45],"is":[46,117],"proposed":[47],"evaluated":[49],"using":[50,154],"state-of-the-art":[52],"POMDP":[53,156],"solver.":[54],"We":[55,128],"apply":[56],"this":[57,75,131],"general":[58],"powerful":[60],"formulation":[61],"robotic":[64],"navigation":[65],"task":[66],"under":[67],"sensing":[70],"uncertainty.":[71],"Results":[72],"show":[73],"that":[74,83,124,130,150],"can":[77,110,137,143,151],"provide":[78,138],"useful":[80],"yields":[84],"policy":[86,123],"similar":[88],"overall":[89],"expected":[90],"reward":[91],"compared":[92],"true":[95,115],"model,":[97],"often":[98],"computational":[101,140],"savings.":[102],"In":[103],"some":[104],"cases,":[105],"our":[106],"reduced":[107],"complexity":[108,147],"solve":[111],"problems":[112,149],"where":[113],"too":[118],"find":[121],"accomplishes":[125],"task.":[127],"conclude":[129],"technique":[132],"of":[133,148],"building":[134],"problem-dependent":[135],"approximations":[136],"advantages":[141],"help":[144],"expand":[145],"be":[152],"considered":[153],"current":[155],"techniques.":[157]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":2}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}