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Control method determination apparatus, control policy determination method, control policy determination program
Control method determination apparatus, control policy determination method, control policy determination program
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机译：控制方法确定装置，控制策略确定方法，控制策略确定程序
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摘要
PROBLEM TO BE SOLVED: To provide a control measure determination device capable of performing high-speed approximation of a value iteration calculation.SOLUTION: A control measure determination device comprises: an initial linear function generation section 1 which generates a candidate group of linear functions which give linear components to a value function in a belief space on the basis of environment sensing information including indeterminacy; a dual transformation section 2 which transforms the candidate group in the belief space into a plurality of points in a dual space; a convex hull approximate calculation section 32 which calculates an approximate convex hull of the plurality of points; a membership determination section 34 which determines a membership function of apexes of the approximate convex hull; a convex hull upper side extraction section 36 which extracts an upper side of the approximate convex hull; an inverse dual transformation section 4 which inversely transforms the apexes belonging to the upper side into the linear function in the belief space; a linear function updating section 6 which updates the linear function in accordance with back-up step numbers on the basis of the obtained linear function and outputs the updated linear function to the dual transformation section 2; and a value function determination section 5 which obtains a plurality of linear components of an approximate value function on the basis of the linear function obtained through the inverse transformation after updating the linear function.
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