A New Approach to Probabilistic Belief Change

One way for an agent to deal with uncertainty about its beliefs is to maintain a probability distribution over the worlds it believes are possible. A belief change operation may recommend some previously believed worlds to become impossible and some previously disbelieved worlds to become possible. This work investigates how to redistribute probabilities due to worlds being added to and removed from an agent’s belief-state. Two related approaches are proposed and analyzed

Four Approaches to Supposition

Suppositions can be introduced in either the indicative or subjunctive mood. The introduction of either type of supposition initiates judgments that may be either qualitative, binary judgments about whether a given proposition is acceptable or quantitative, numerical ones about how acceptable it is. As such, accounts of qualitative/quantitative judgment under indicative/subjunctive supposition have been developed in the literature. We explore these four different types of theories by systematically explicating the relationships canonical representatives of each. Our representative qualitative accounts of indicative and subjunctive supposition are based on the belief change operations provided by AGM revision and KM update respectively; our representative quantitative ones are offered by conditionalization and imaging. This choice is motivated by the familiar approach of understanding supposition as `provisional belief revision' wherein one temporarily treats the supposition as true and forms judgments by making appropriate changes to their other opinions. To compare the numerical judgments recommended by the quantitative theories with the binary ones recommended by the qualitative accounts, we rely on a suitably adapted version of the Lockean thesis. Ultimately, we establish a number of new results that we interpret as vindicating the often-repeated claim that conditionalization is a probabilistic version of revision, while imaging is a probabilistic version of update

Multi-target detection and recognition by UAVs using online POMDPs

This paper tackles high-level decision-making techniques for robotic missions, which involve both active sensing and symbolic goal reaching, under uncertain probabilistic environments and strong time constraints. Our case study is a POMDP model of an online multi-target detection and recognition mission by an autonomous UAV.The POMDP model of the multi-target detection and recognition problem is generated online from a list of areas of interest, which are automatically extracted at the beginning of the flight from a coarse-grained high altitude observation of the scene. The POMDP observation model relies on a statistical abstraction of an image processing algorithm's output used to detect targets. As the POMDP problem cannot be known and thus optimized before the beginning of the flight, our main contribution is an ``optimize-while-execute'' algorithmic framework: it drives a POMDP sub-planner to optimize and execute the POMDP policy in parallel under action duration constraints. We present new results from real outdoor flights and SAIL simulations, which highlight both the benefits of using POMDPs in multi-target detection and recognition missions, and of our`optimize-while-execute'' paradigm