State-Continuity Approximation of Markov Decision Processes via Finite Element Analysis for Autonomous System Planning.

Motion planning under uncertainty for an autonomous system can be formulated as a Markov Decision Process with a continuous state space. In this letter, we propose a novel solution to this decision-theoretic planning problem that directly obtains the continuous value function with only the first and second moments of the transition probabilities, alleviating the requirement for an explicit transit...