{"id":"https://openalex.org/W3131686484","doi":"https://doi.org/10.1109/tase.2021.3057111","title":"Online Partial Conditional Plan Synthesis for POMDPs With Safe-Reachability Objectives: Methods and Experiments","display_name":"Online Partial Conditional Plan Synthesis for POMDPs With Safe-Reachability Objectives: Methods and Experiments","publication_year":2021,"publication_date":"2021-02-23","ids":{"openalex":"https://openalex.org/W3131686484","doi":"https://doi.org/10.1109/tase.2021.3057111","mag":"3131686484"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2021.3057111","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3057111","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","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/A5040315152","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-9416-1336"},"institutions":[{"id":"https://openalex.org/I4210108985","display_name":"Bellevue Hospital Center","ror":"https://ror.org/01ky34z31","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1283621791","https://openalex.org/I4210086933","https://openalex.org/I4210108985"]},{"id":"https://openalex.org/I4210114444","display_name":"Meta (United States)","ror":"https://ror.org/01zbnvs85","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114444"]},{"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":"Yue Wang","raw_affiliation_strings":["Facebook, Bellevue, WA, USA","Rice University, Houston, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-9416-1336","affiliations":[{"raw_affiliation_string":"Facebook, Bellevue, WA, USA","institution_ids":["https://openalex.org/I4210108985","https://openalex.org/I4210114444"]},{"raw_affiliation_string":"Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006950751","display_name":"Abdullah Al Redwan Newaz","orcid":"https://orcid.org/0000-0003-1140-8119"},"institutions":[{"id":"https://openalex.org/I35777872","display_name":"North Carolina Agricultural and Technical State University","ror":"https://ror.org/02aze4h65","country_code":"US","type":"education","lineage":["https://openalex.org/I35777872"]},{"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":"Abdullah Al Redwan Newaz","raw_affiliation_strings":["North Carolina Agricultural and Technical State University, Greensboro, NC, USA","Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"North Carolina Agricultural and Technical State University, Greensboro, NC, USA","institution_ids":["https://openalex.org/I35777872"]},{"raw_affiliation_string":"Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101609628","display_name":"Juan David Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-9593-6789"},"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"]},{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Juan David Hernandez","raw_affiliation_strings":["Centre in AI, Robotics and Human-Machine Systems (IROHMS), School of Engineering, Cardiff University, Cardiff, U.K","Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre in AI, Robotics and Human-Machine Systems (IROHMS), School of Engineering, Cardiff University, Cardiff, U.K","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057341982","display_name":"Swarat Chaudhuri","orcid":"https://orcid.org/0000-0002-6859-1391"},"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"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Swarat Chaudhuri","raw_affiliation_strings":["Rice University, Houston, TX, USA","The University of Texas at Austin, Austin, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"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":["Rice University, Houston, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-0699-8038","affiliations":[{"raw_affiliation_string":"Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":1.5423,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.85241598,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"18","issue":"3","first_page":"932","last_page":"945"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9944999814033508,"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":0.9944999814033508,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9878000020980835,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9819999933242798,"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/reachability","display_name":"Reachability","score":0.6940783262252808},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.658427357673645},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5943590402603149},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.5062174201011658},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.4661392569541931},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.45562055706977844},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.43617427349090576},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.4177761673927307},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.34201204776763916},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.334928423166275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32685720920562744},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.2658354341983795},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.2314712107181549},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21960526704788208},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20860841870307922},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.19014063477516174},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.18921729922294617}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6940783262252808},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.658427357673645},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5943590402603149},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.5062174201011658},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.4661392569541931},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.45562055706977844},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.43617427349090576},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.4177761673927307},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.34201204776763916},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.334928423166275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32685720920562744},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.2658354341983795},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.2314712107181549},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21960526704788208},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20860841870307922},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.19014063477516174},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.18921729922294617},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tase.2021.3057111","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3057111","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:http://orca.cardiff.ac.uk:139150","is_oa":false,"landing_page_url":"https://orca.cardiff.ac.uk/id/eprint/139150/1/uncertainty-tase.pdf","pdf_url":"https://orca.cardiff.ac.uk/id/eprint/139150/1/uncertainty-tase.pdf","source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:http://orca-dev.cardiff.ac.uk:139150","is_oa":false,"landing_page_url":"https://orca.cardiff.ac.uk/id/eprint/139150/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.550000011920929}],"awards":[{"id":"https://openalex.org/G1258501338","display_name":"Collaborative Research: Expeditions in Computer Augmented Program Engineering (ExCAPE): Harnessing Synthesis for Software Design","funder_award_id":"1139011","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5188947976","display_name":"NRI: Small: Collaborative Research: Rethinking Motion Generation for Robots Operating in Human Workspaces","funder_award_id":"1317849","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5270280392","display_name":"SHF: Medium: Collaborative Research: Marrying Program Analysis and Numerical Search","funder_award_id":"1162076","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5986120807","display_name":"SHF: Medium: Automating robot programming through constraint solving and motion planning","funder_award_id":"1514372","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W177913229","https://openalex.org/W288011047","https://openalex.org/W1480909796","https://openalex.org/W1482467703","https://openalex.org/W1503109067","https://openalex.org/W1522308973","https://openalex.org/W1532688806","https://openalex.org/W1558657492","https://openalex.org/W1565394148","https://openalex.org/W1580254899","https://openalex.org/W1583869287","https://openalex.org/W1977070092","https://openalex.org/W1981691276","https://openalex.org/W1996295354","https://openalex.org/W2025217226","https://openalex.org/W2032100464","https://openalex.org/W2034725503","https://openalex.org/W2070683816","https://openalex.org/W2099430963","https://openalex.org/W2110790702","https://openalex.org/W2119852681","https://openalex.org/W2124595631","https://openalex.org/W2130422193","https://openalex.org/W2144088174","https://openalex.org/W2144913588","https://openalex.org/W2167340365","https://openalex.org/W2168359464","https://openalex.org/W2207352740","https://openalex.org/W2219400200","https://openalex.org/W2274143274","https://openalex.org/W2336416123","https://openalex.org/W2409384250","https://openalex.org/W2546924332","https://openalex.org/W2572445540","https://openalex.org/W2787504747","https://openalex.org/W2794922736","https://openalex.org/W2808915486","https://openalex.org/W2901136733","https://openalex.org/W2912063360","https://openalex.org/W2913878882","https://openalex.org/W2963452430","https://openalex.org/W2963559826","https://openalex.org/W2963646405","https://openalex.org/W2963778105","https://openalex.org/W2964340170","https://openalex.org/W2969158650","https://openalex.org/W3009835149","https://openalex.org/W3023702893","https://openalex.org/W3043247471","https://openalex.org/W3099221207","https://openalex.org/W3104551220","https://openalex.org/W4213269876","https://openalex.org/W4294562617","https://openalex.org/W6629917913","https://openalex.org/W6631864160","https://openalex.org/W6633791246","https://openalex.org/W6634758100","https://openalex.org/W6678181239","https://openalex.org/W6678541622","https://openalex.org/W6681718981","https://openalex.org/W6688837684","https://openalex.org/W6694701973","https://openalex.org/W6729166891","https://openalex.org/W6748305584","https://openalex.org/W6751535212","https://openalex.org/W6756486208","https://openalex.org/W6777231846","https://openalex.org/W6785482317"],"related_works":["https://openalex.org/W2963452430","https://openalex.org/W2787504747","https://openalex.org/W4287267404","https://openalex.org/W2805801807","https://openalex.org/W2913022628","https://openalex.org/W3137295776","https://openalex.org/W2963348740","https://openalex.org/W2010557618","https://openalex.org/W2761558250","https://openalex.org/W1549769655"],"abstract_inverted_index":{"The":[0,270],"framework":[1],"of":[2,35,47,59,86,187,348,379,402,420,502,505,533],"partially":[3,318],"observable":[4,319],"Markov":[5,320],"decision":[6,321],"processes":[7],"(POMDPs)":[8],"offers":[9],"a":[10,32,44,62,73,77,80,91,112,166,173,277,346,362,368,380,393,400,489,530],"standard":[11],"approach":[12,95,171,200,265,275,281,520],"to":[13,118,132,148,164,203,212,223,241,290,315,327,391,405,440,462,487,509,511,523,537],"model":[14],"uncertainty":[15,306],"in":[16,266,287,302,307,329,335,354,474,494],"many":[17],"robot":[18,70],"tasks.":[19],"Traditionally,":[20],"POMDPs":[21,36,60,103,283],"are":[22,52],"formulated":[23],"with":[24,61,76,104,284,539],"optimality":[25],"objectives.":[26,38],"In":[27,239],"this":[28,220,397,519],"article,":[29],"we":[30,154,218,246,477],"study":[31],"different":[33,92],"formulation":[34,324,365],"withBoolean":[37],"For":[39],"robotic":[40,268,525],"domains":[41,450,467],"that":[42,68,101,128,183,273,366,416,448,518],"require":[43],"correctness":[45],"guarantee":[46],"accomplishing":[48],"tasks,":[49],"Boolean":[50,64,105,369],"objectives":[51,106,286],"natural":[53],"formulations.":[54],"We":[55,110,181,262],"investigate":[56],"the":[57,69,84,98,130,156,184,188,196,209,227,233,244,299,313,316,332,342,377,417,421,429,443,456,480,497,506,534],"problem":[58,507],"common":[63],"objective:safe":[65],"reachability,":[66],"requiring":[67],"eventually":[71],"reaches":[72],"goal":[74],"state":[75],"probability":[78,85,211,458],"above":[79],"threshold":[81],"while":[82],"keeping":[83],"visiting":[87],"unsafe":[88],"states":[89,254],"below":[90],"threshold.":[93],"Our":[94,170,199,410,445],"builds":[96],"upon":[97],"previous":[99,278],"work":[100,398],"represents":[102],"using":[107],"symbolic":[108],"constraints.":[109],"employ":[111],"satisfiability":[113],"modulo":[114],"theories":[115],"(SMTs)":[116],"solver":[117],"efficiently":[119],"search":[120],"for":[121,251,282,449,466],"solutions,":[122],"i.e.,":[123],"policies":[124],"or":[125,142,472],"conditional":[126,143,159,168,175,191,230,249,382,395,424,435],"plans":[127,250,259,436],"specify":[129,204],"action":[131],"take":[133,500],"contingent":[134],"on":[135,208],"every":[136],"possible":[137,389],"event.":[138],"A":[139],"full":[140,167,394],"policy":[141,279],"plan":[144,176,192,231,425],"is":[145,193,311,325,426,453,470,521,543],"generally":[146],"expensive":[147,326],"compute.":[149],"To":[150],"improve":[151,243,442],"computational":[152],"efficiency,":[153,245],"introduce":[155],"notion":[157,378],"ofpartial":[158],"plansthat":[160],"cover":[161],"sampled":[162,252],"events":[163],"approximate":[165],"plan.":[169,383],"constructs":[172],"partial":[174,190,229,248,381,423,434],"parameterized":[177],"by":[178,195,295,428],"areplanning":[179],"probability.":[180,198,409,431],"prove":[182],"failure":[185,418],"rate":[186,419],"constructed":[189,422],"bounded":[194,407,427],"replanning":[197,210,408,430,452,457,469],"allows":[201],"users":[202],"an":[205,544],"appropriate":[206],"bound":[207,221,234,459,481],"balance":[213],"efficiency":[214,356],"and":[215,235,255,309,350,357,412,465,482],"correctness.":[216,358],"Moreover,":[217,432],"update":[219],"properly":[222],"quickly":[224],"detect":[225],"whether":[226],"current":[228],"meets":[232],"avoid":[236],"unnecessary":[237],"computation.":[238],"addition,":[240],"further":[242,441],"cache":[247],"belief":[253],"reuse":[256],"these":[257,288,433],"cached":[258,439],"if":[260],"possible.":[261],"validate":[263],"our":[264,274],"several":[267],"domains.":[269],"results":[271,414,446],"show":[272,415],"outperforms":[276],"synthesis":[280],"safe-reachability":[285],"domains.Note":[289],"Practitioners\u2014This":[291],"article":[292,360,375],"was":[293],"motivated":[294],"two":[296],"observations.":[297],"On":[298,331],"one":[300],"hand,":[301,334],"robotics":[303],"applications":[304],"where":[305,451,468],"sensing":[308],"actions":[310],"present,":[312],"solution":[314],"classical":[317,343],"process":[322],"(POMDP)":[323],"compute":[328],"general.":[330],"other":[333,340],"certain":[336,495],"practical":[337],"scenarios,":[338],"formulations":[339],"than":[341,385],"POMDP":[344,364],"make":[345],"lot":[347],"sense":[349],"can":[351,437,478,499],"provide":[352],"flexibility":[353],"balancing":[355],"This":[359,374],"considers":[361],"modified":[363],"includes":[367],"objective,":[370],"namely":[371],"safe":[372],"reachability.":[373],"uses":[376],"Rather":[384],"explicitly":[386],"enumerating":[387],"all":[388,403],"observations":[390,404],"construct":[392],"plan,":[396],"samples":[399],"subset":[401],"ensure":[406],"theoretical":[411],"empirical":[413],"be":[438],"performance.":[444],"suggest":[447,517],"easy,":[454],"increasing":[455],"usually":[460],"leads":[461],"better":[463],"scalability,":[464],"difficult":[471],"impossible":[473],"some":[475],"states,":[476],"decrease":[479],"allocate":[483],"more":[484],"computation":[485],"time":[486],"achieve":[488],"higher":[490],"success":[491],"rate.":[492],"Hence,":[493],"cases,":[496],"practitioner":[498],"advantage":[501],"their":[503],"knowledge":[504],"domain":[508],"scale":[510],"larger":[512],"problems.":[513],"Preliminary":[514],"physical":[515],"experiments":[516],"applicable":[522],"real-world":[524],"domains,":[526],"but":[527],"it":[528],"requires":[529],"discrete":[531],"representation":[532],"workspace.":[535],"How":[536],"deal":[538],"continuous":[540],"workspace":[541],"directly":[542],"interesting":[545],"future":[546],"direction.":[547]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}