Feasibility Study of POMDP in Autonomous Amphibious Vehicle Guidance

We develop a path-planning method, based on the theory of partially observable Markov decision process (POMDP), to guide an autonomous amphibious vehicle (AAV) to reach/rescue a victim in a flood situation. In practice, POMDP problems are hard to solve exactly, so we use an approximation method called nominal belief-state optimization (NBO). We compare the performance of the NBO approach with a greedy approach.