The value-iteration method from Section 10.2.1 can be applied without modification. In the first step, initialize using (12.6). Using the notation for the new problem, the dynamic programming recurrence, (10.39), becomes

in which .

The main difficulty in evaluating (12.7) is to determine the set , over which the maximization occurs. Suppose that a state-nature sensor mapping is used, as defined in Section 11.1.1. From the I-state , the action is applied. This yields a forward projection . The set of all possible observations is

Without using forward projections, a longer, equivalent expression is obtained:

Other variants can be formulated for different sensing models.

Steven M LaValle 2012-04-20