Online Partial Conditional Plan Synthesis for POMDPs With Safe-Reachability Objectives: Methods and Experiments[-5pt]

The framework of partially observable Markov decision processes (POMDPs) offers a standard approach to model uncertainty in many robot tasks. Traditionally, POMDPs are formulated with optimality objectives. In this article, we study a different formulation of POMDPs with Boolean objectives. For robotic domains that require a correctness guarantee of accomplishing tasks, Boolean objectives are natu...