{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T05:42:57Z","timestamp":1773034977196,"version":"3.50.1"},"publisher-location":"Cham","reference-count":38,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783319165943","type":"print"},{"value":"9783319165950","type":"electronic"}],"license":[{"start":{"date-parts":[[2015,1,1]],"date-time":"2015-01-01T00:00:00Z","timestamp":1420070400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2015,1,1]],"date-time":"2015-01-01T00:00:00Z","timestamp":1420070400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2015]]},"DOI":"10.1007\/978-3-319-16595-0_30","type":"book-chapter","created":{"date-parts":[[2015,4,29]],"date-time":"2015-04-29T13:42:10Z","timestamp":1430314930000},"page":"515-533","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":42,"title":["Scaling up Gaussian Belief Space Planning Through Covariance-Free Trajectory Optimization and Automatic Differentiation"],"prefix":"10.1007","author":[{"given":"Sachin","family":"Patil","sequence":"first","affiliation":[]},{"given":"Gregory","family":"Kahn","sequence":"additional","affiliation":[]},{"given":"Michael","family":"Laskey","sequence":"additional","affiliation":[]},{"given":"John","family":"Schulman","sequence":"additional","affiliation":[]},{"given":"Ken","family":"Goldberg","sequence":"additional","affiliation":[]},{"given":"Pieter","family":"Abbeel","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2015,4,30]]},"reference":[{"issue":"2","key":"30_CR1","doi-asserted-by":"publisher","first-page":"268","DOI":"10.1177\/0278364913501564","volume":"33","author":"A Agha-mohammadi","year":"2014","unstructured":"Agha-mohammadi, A., Chakravorty, S., Amato, N.M.: FIRM: sampling-based feedback motion planning under motion uncertainty and imperfect measurements. Int. J. Robot. Res. 33(2), 268\u2013304 (2014)","journal-title":"Int. J. Robot. Res."},{"key":"30_CR2","doi-asserted-by":"crossref","unstructured":"Andersson, J., \u00c5kesson, J., Diehl, M.: CasADi: a symbolic package for automatic differentiation and optimal control. In: Recent Advances in Algorithmic Differentiation, pp. 297\u2013307. Springer (2012)","DOI":"10.1007\/978-3-642-30023-3_27"},{"key":"30_CR3","doi-asserted-by":"crossref","unstructured":"Bergstra, J.: Theano: a CPU and GPU math expression compiler. http:\/\/deeplearning.net\/software\/theano\/ (2011)","DOI":"10.25080\/Majora-92bf1922-003"},{"key":"30_CR4","doi-asserted-by":"crossref","unstructured":"Bertsekas, D.: Dynamic Programming and Optimal Control. Athena Scientific (2001)","DOI":"10.1007\/0-306-48332-7_333"},{"key":"30_CR5","doi-asserted-by":"publisher","DOI":"10.1137\/1.9780898718577","volume-title":"Practical Methods for Optimal Control and Estimation Using Nonlinear Programming","author":"JT Betts","year":"2010","unstructured":"Betts, J.T.: Practical Methods for Optimal Control and Estimation Using Nonlinear Programming. SIAM, Philadelphia (2010)"},{"key":"30_CR6","doi-asserted-by":"crossref","unstructured":"Bry, A., Roy, N.: Rapidly-exploring random belief trees for motion planning under uncertainty. In: Proceedings of IEEE International Conference Robotics and Automation (ICRA), pp. 723\u2013730 (2011)","DOI":"10.1109\/ICRA.2011.5980508"},{"key":"30_CR7","volume-title":"Model Predictive Control","author":"EF Camacho","year":"2004","unstructured":"Camacho, E.F., Bordons, C.: Model Predictive Control. Springer, London (2004)"},{"key":"30_CR8","doi-asserted-by":"crossref","unstructured":"Dallaire, P., Besse, C., Ross, S., Chaib-draa, B.: Bayesian Reinforcement learning in continuous POMDPs with Gaussian processes. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2604\u20132609 (2009)","DOI":"10.1109\/IROS.2009.5354013"},{"key":"30_CR9","unstructured":"Deisenroth, M., Mchutchon, A., Hall, J., Rasmussen, C.E.: PILCO policy search framework. http:\/\/mloss.org\/software\/view\/508\/ (2013)"},{"key":"30_CR10","unstructured":"Deisenroth, M.P., Peters, J.: Solving nonlinear continuous state-action-observation POMDPs for mechanical systems with Gaussian noise. In: European Workshop on Reinforcement Learning (EWRL 2012) (2013)"},{"key":"30_CR11","unstructured":"Diehl, M.: Numerical optimal control. http:\/\/homes.esat.kuleuven.be\/mdiehl\/TRENTO\/numopticon.pdf (2011)"},{"key":"30_CR12","doi-asserted-by":"crossref","unstructured":"Domahidi, A., Zgraggen, A., Zeilinger, M., Morari, M., Jones, C.: Efficient interior point methods for multistage problems arising in receding horizon control. In: IEEE Conference on Decision and Control (CDC), pp. 668\u2013674 (2012)","DOI":"10.1109\/CDC.2012.6426855"},{"key":"30_CR13","unstructured":"Domahidi, A.: FORCES: Fast optimization for real-time control on embedded systems. http:\/\/forces.ethz.ch (2012)"},{"key":"30_CR14","unstructured":"Erez, T., Smart, W.D.: A scalable method for solving high-dimensional continuous POMDPs using local approximation. In: Conference on Uncertainty in Artificial Intelligence, pp. 160\u2013167 (2010)"},{"key":"30_CR15","doi-asserted-by":"publisher","DOI":"10.1137\/1.9780898717761","volume-title":"Evaluating Derivatives: Principles and Techniques of Algorithmic Differentiation","author":"A Griewank","year":"2008","unstructured":"Griewank, A., Walther, A.: Evaluating Derivatives: Principles and Techniques of Algorithmic Differentiation. SIAM, Philadelphia (2008)"},{"key":"30_CR16","doi-asserted-by":"crossref","unstructured":"Hauser, K.: Randomized belief-space replanning in partially-observable continuous spaces. In: Algorithmic Foundations of Robotics IX, pp. 193\u2013209. Springer (2011)","DOI":"10.1007\/978-3-642-17452-0_12"},{"key":"30_CR17","doi-asserted-by":"crossref","unstructured":"Hollinger, G., Sukhatme, G.: Stochastic motion planning for robotic information gathering. In: Robotics: Science and Systems (RSS) (2013)","DOI":"10.15607\/RSS.2013.IX.051"},{"key":"30_CR18","unstructured":"Indelman, V., Carlone, L., Dellaert, F.: Towards planning in generalized belief space. In: International Symposium on Robotics Research (ISRR) (2013)"},{"key":"30_CR19","doi-asserted-by":"crossref","unstructured":"Kaelbling, L.P., Littman, M.L., Cassandra, A.R.: Planning and acting in partially observable stochastic domains. Artif. Intell. 101(1\u20132), 99\u2013134 (1998)","DOI":"10.1016\/S0004-3702(98)00023-X"},{"key":"30_CR20","doi-asserted-by":"crossref","unstructured":"Kaelbling, L.P., Lozano-P\u00e9rez, T.: Integrated task and motion planning in belief space. Int. J. Robot. Res. 32(9\u201310), 1194\u20131227 (2013)","DOI":"10.1177\/0278364913484072"},{"key":"30_CR21","doi-asserted-by":"crossref","unstructured":"Kontitsis, M., Theodorou, E.A., Todorov, E.: Multi-robot active SLAM with relative entropy optimization. In: Proceedings of the American Control Conference (ACC), pp. 2757\u20132764 (2013)","DOI":"10.1109\/ACC.2013.6580252"},{"issue":"3","key":"30_CR22","doi-asserted-by":"publisher","first-page":"255","DOI":"10.1007\/s10514-012-9307-y","volume":"33","author":"H Kurniawati","year":"2012","unstructured":"Kurniawati, H., Bandyopadhyay, T., Patrikalakis, N.M.: Global motion planning under uncertain motion, sensing, and environment map. Auton. Robot. 33(3), 255\u2013272 (2012)","journal-title":"Auton. Robot."},{"issue":"11","key":"30_CR23","doi-asserted-by":"publisher","first-page":"898","DOI":"10.1016\/j.robot.2006.05.008","volume":"54","author":"C Leung","year":"2006","unstructured":"Leung, C., Huang, S., Kwok, N.: Planning under uncertainty using model predictive control for information gathering. Robot. Auton. Syst. 54(11), 898\u2013910 (2006)","journal-title":"Robot. Auton. Syst."},{"key":"30_CR24","doi-asserted-by":"publisher","DOI":"10.1007\/b98874","volume-title":"Numerical Optimization","author":"J Nocedal","year":"1999","unstructured":"Nocedal, J., Wright, S.: Numerical Optimization. Springer, New York (1999)"},{"issue":"3","key":"30_CR25","doi-asserted-by":"publisher","first-page":"441","DOI":"10.1287\/moor.12.3.441","volume":"12","author":"CJT Papadimitriou","year":"1987","unstructured":"Papadimitriou, C.J.T.: The complexity of Markov decision processes. Math. Oper. Res. 12(3), 441\u2013450 (1987)","journal-title":"Math. Oper. Res."},{"key":"30_CR26","doi-asserted-by":"crossref","unstructured":"Patil, S., Duan, Y., Schulman, J., Goldberg, K., Abbeel, P.: Gaussian belief space planning with discontinuities in sensing domains. In: Proceedings of the IEEE International Conference Robotics and Automation (ICRA) (2014)","DOI":"10.1109\/ICRA.2014.6907816"},{"key":"30_CR27","doi-asserted-by":"crossref","unstructured":"Platt, R., Tedrake, R., Kaelbling, L., Lozano-Perez, T.: Belief space planning assuming maximum likelihood observations. In: Robotics: Science and Systems (RSS) (2010)","DOI":"10.15607\/RSS.2010.VI.037"},{"key":"30_CR28","first-page":"2329","volume":"7","author":"J Porta","year":"2006","unstructured":"Porta, J., Vlassis, N., Spaan, M., Poupart, P.: Point-based Value iteration for continuous POMDPs. J. Mach. Learn. Res. 7, 2329\u20132367 (2006)","journal-title":"J. Mach. Learn. Res."},{"key":"30_CR29","doi-asserted-by":"crossref","unstructured":"Prentice, S., Roy, N.: The belief roadmap: efficient planning in belief space by factoring the covariance. Int. J. Robot. Res. 28(11\u201312), 1448\u20131465 (2009)","DOI":"10.1177\/0278364909341659"},{"key":"30_CR30","doi-asserted-by":"crossref","unstructured":"Schulman, J., Ho, J., Lee, A., Bradlow, H., Awwal, I., Abbeel, P.: Finding locally optimal, collision-free trajectories with sequential convex optimization. In: Robotics: Science and Systems (RSS) (2013)","DOI":"10.15607\/RSS.2013.IX.031"},{"key":"30_CR31","unstructured":"Sommer, H., Pradalier, C., Furgale, P.: Automatic differentiation on differentiable manifolds as a tool for robotics. In: International Symposium on Robotics Research (ISRR) (2013)"},{"key":"30_CR32","doi-asserted-by":"crossref","unstructured":"Stachniss, C., Grisetti, G., Burgard, W.: Information gain-based exploration using Rao-Blackwellized particle filters. In: Proceedings of the Robotics: Science and Systems (RSS), vol. 2 (2005)","DOI":"10.15607\/RSS.2005.I.009"},{"issue":"4","key":"30_CR33","doi-asserted-by":"publisher","first-page":"1050","DOI":"10.1109\/TRO.2013.2257577","volume":"29","author":"R Valencia","year":"2013","unstructured":"Valencia, R., Morta, M., Andrade-Cetto, J., Porta, J.M.: Planning reliable paths with Pose SLAM. IEEE Trans. Robot. 29(4), 1050\u20131059 (2013)","journal-title":"IEEE Trans. Robot."},{"key":"30_CR34","unstructured":"van den Berg, J., Patil, S., Alterovitz, R.: Efficient approximate value iteration for continuous Gaussian POMDPs. In: Proceedings of the AAAI Conference on Artificial Intelligence (2012)"},{"issue":"7","key":"30_CR35","doi-asserted-by":"publisher","first-page":"895","DOI":"10.1177\/0278364911406562","volume":"30","author":"J van den Berg","year":"2011","unstructured":"van den Berg, J., Abbeel, P., Goldberg, K.: LQG-MP: optimized path planning for robots with motion uncertainty and imperfect state information. Int. J. Robot. Res. 30(7), 895\u2013913 (2011)","journal-title":"Int. J. Robot. Res."},{"issue":"11","key":"30_CR36","doi-asserted-by":"publisher","first-page":"1263","DOI":"10.1177\/0278364912456319","volume":"31","author":"J van den Berg","year":"2012","unstructured":"van den Berg, J., Patil, S., Alterovitz, R.: Motion planning under uncertainty using iterative local optimization in belief space. Int. J. Robot. Res. 31(11), 1263\u20131278 (2012)","journal-title":"Int. J. Robot. Res."},{"key":"30_CR37","doi-asserted-by":"crossref","unstructured":"Vitus, M.P., Tomlin, C.J.: Closed-Loop belief space planning for linear, Gaussian systems. In: Proceedings of the IEEE International Conference Robotics and Automation (ICRA), pp. 2152\u20132159 (2011)","DOI":"10.1109\/ICRA.2011.5980257"},{"key":"30_CR38","doi-asserted-by":"crossref","unstructured":"Webb, D.J., Crandall, K.L., van den Berg, J.: Online parameter estimation via real-time replanning of continuous Gaussian POMDPs (2013)","DOI":"10.1109\/ICRA.2014.6907743"}],"container-title":["Springer Tracts in Advanced Robotics","Algorithmic Foundations of Robotics XI"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-16595-0_30","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,2,17]],"date-time":"2023-02-17T23:46:57Z","timestamp":1676677617000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-319-16595-0_30"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015]]},"ISBN":["9783319165943","9783319165950"],"references-count":38,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-16595-0_30","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"value":"1610-7438","type":"print"},{"value":"1610-742X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015]]},"assertion":[{"value":"30 April 2015","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}