Abstract:
We need to recognize that a robot planner has to deal with incomplete information due to its model limitations as well as incomplete information due to its limited and noisy sensors and actuators. In the table above, I summarize aspects of a robot system about which a planner might have incomplete information. The hardware sources of incomplete information are listed on the left. To handle these sources of incomplete information, we build probabilistic planning models. These models are themselves sources of incomplete information, listed in the center. Finally, if we do meta-level planning and use models for predicting planner performance, these meta-level models are also sources of incomplete information.