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- W2594930926 abstract "Bayesian Optimization has gained much popularity lately, as a global optimization technique for functions that are expensive to evaluate or unknown a priori. While classical BO focuses on where to gather an observation next, it does not take into account practical constraints for a robotic system such as where it is physically possible to gather samples from, nor the sequential nature of the problem while executing a trajectory. In field robotics and other real-life situations, physical and trajectory constraints are inherent problems. This paper addresses these issues by formulating Bayesian Optimization for continuous trajectories within a Partially observable Markov Decision Process (POMDP) framework. The resulting POMDP is solved using Monte-Carlo Tree Search (MCTS), which we adapt to using a reward function balancing exploration and exploitation. Experiments on monitoring a spatial phenomenon with a UAV illustrate how our BO-POMDP algorithm outperforms competing techniques." @default.
- W2594930926 created "2017-03-23" @default.
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- W2594930926 date "2017-05-01" @default.
- W2594930926 modified "2023-10-01" @default.
- W2594930926 title "Sequential Bayesian optimization as a POMDP for environment monitoring with UAVs" @default.
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- W2594930926 doi "https://doi.org/10.1109/icra.2017.7989754" @default.
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