{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,16]],"date-time":"2025-05-16T04:08:06Z","timestamp":1747368486784,"version":"3.40.5"},"reference-count":0,"publisher":"University of Florida George A Smathers Libraries","license":[{"start":{"date-parts":[[2025,5,14]],"date-time":"2025-05-14T00:00:00Z","timestamp":1747180800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc\/4.0"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["FLAIRS"],"abstract":"<jats:p>We propose a hybrid planning approach integrating Partially Observable Markov Decision Processes (POMDPs) with Proportional-Integral-Derivative (PID) controllers for mobile robot navigation. The method leverages PID feedback components as observation variables in a POMDP model to improve decision-making under uncertainty. This work is tested on a Create3 robot tasked with identifying and counting doors in a corridor using only onboard sensors. Our approach improves sensor noise robustness, achieving a success rate of up to 85%, demonstrating the feasibility of integrating AI- based planning with low-level control.<\/jats:p>","DOI":"10.32473\/flairs.38.1.138956","type":"journal-article","created":{"date-parts":[[2025,5,15]],"date-time":"2025-05-15T15:21:25Z","timestamp":1747322485000},"source":"Crossref","is-referenced-by-count":0,"title":["Integrating POMDP Models with PID Controllers with Application to Counting Doors on a Corridor"],"prefix":"10.32473","volume":"38","author":[{"given":"Sara","family":"Zuiran","sequence":"first","affiliation":[]},{"given":"Rwaida","family":"Alssadi","sequence":"additional","affiliation":[]},{"given":"Jolie","family":"Elliott","sequence":"additional","affiliation":[]},{"given":"Phi","family":"Duong","sequence":"additional","affiliation":[]},{"given":"Chinedum","family":"Ajabor","sequence":"additional","affiliation":[]},{"given":"Alwaleed","family":"Alsaleemi","sequence":"additional","affiliation":[]},{"given":"Samuel","family":"Boddepalli","sequence":"additional","affiliation":[]},{"given":"Vamshi","family":"Gattikoppula","sequence":"additional","affiliation":[]},{"given":"Pavan","family":"Manigandla","sequence":"additional","affiliation":[]},{"given":"Marius","family":"Silaghi","sequence":"additional","affiliation":[]}],"member":"17357","published-online":{"date-parts":[[2025,5,14]]},"container-title":["The International FLAIRS Conference Proceedings"],"original-title":[],"link":[{"URL":"https:\/\/journals.flvc.org\/FLAIRS\/article\/download\/138956\/144105","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.flvc.org\/FLAIRS\/article\/download\/138956\/144105","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,15]],"date-time":"2025-05-15T15:21:25Z","timestamp":1747322485000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.flvc.org\/FLAIRS\/article\/view\/138956"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,14]]},"references-count":0,"URL":"https:\/\/doi.org\/10.32473\/flairs.38.1.138956","relation":{},"ISSN":["2334-0762","2334-0754"],"issn-type":[{"value":"2334-0762","type":"electronic"},{"value":"2334-0754","type":"print"}],"subject":[],"published":{"date-parts":[[2025,5,14]]}}}