Alpha0

PURPOSE

SYNOPSIS

DESCRIPTION

   Alpha-element for the first Perseus iteration (continuos state version).

   Generates the alpha element for initial planning horizion when working
   with continuous state spaces.
   The role of alpha_0 is detailed in Section 4, page 13, first paragraph.

CROSS-REFERENCE INFORMATION

• get Get for GBeliefs.
• Compress Gaussian mixutre compression.
• get Get function for the GMixture object.
• get Gaussian object get function.
• get Get function for CS_CO_CA_POMDPs.
• get Get function for CS_CO_DA_POMDPs.
• get Get function for CS_CO_POMDPs.
• get Get function for CS_DO_CA_POMDPs.
• get Get function for CS_DO_DA_POMDPs.
• get Get function for CS_POMDPs.
• get Get function for DS_CO_CA_POMDPs.
• get Get function for DS_CO_DA_POMDPs.
• get Get function for DS_DO_CA_POMDPs.
• get Get function for DS_DO_DA_POMDPs.
• UniformDistribution Uniform distribution in the POMDP state space.
• get Get functio for POMDPs.
• minReward Lower bound of the minimal possible reward.
• minReward Lower bound of the minimal possible reward.
• minReward Lower bound of the minimal possible reward.
• minReward Lower bound of the minimal possible reward.
• UniformDistribution Uniform probability on a continuous space.
• UniformDistribution Uniform probability on a discrete space.

• Perseus The Perseus point-based POMDP solver.
• iPerseus Improved version of Perseus.

SOURCE CODE

0001 function a=Alpha0(P)
0002 %   Alpha-element for the first Perseus iteration (continuos state version).
0003 %
0004 %   Generates the alpha element for initial planning horizion when working
0005 %   with continuous state spaces.
0006 %   The role of alpha_0 is detailed in Section 4, page 13, first paragraph.
0007 
0008   S=get(P,'StateSpace');
0009   gamma=get(P,'gamma');
0010   [u v]=UniformDistribution(S);
0011   a=Compress((minReward(P)/(1-gamma))*(1/v)*u,P.maxAlphaC);
0012