A Hierarchical Approach to POMDP Planning and Execution
Joëlle Pineau, Nicholas Roy, Sebastian Thrun · 2004
This paper presents a hierarchical approach to POMDPs which takes advantage of struc-ture in the problem domain to nd modu-lar policies for complex tasks. We use a de-composition based on partitioning the action space into specialized groups of related ac-tions. We illustrate the appropriateness of the approach by providing empirical results for three contrasting domains. 1.