Suppose that the th stage has passed. What information is available?
It is assumed that at every stage, a sensor observation is made. This
results in a sensing history,
|
(11.12) |
At every stage an action can also be applied, which yields an
action history,
|
(11.13) |
Note that the action history only runs to ; if is
applied, the state and stage are obtained, which lie
beyond the current stage, . By combining the sensing and action
histories, the history at stage is
.
Steven M LaValle
2020-08-14