Bi-level MDPs

This repository accompanies the paper

S. Banerjee, B. Balaban, M. Shirley, K. Bradner, and M. Pavone, “Contingency Planning Using Bi-level Markov Decision Processes for Space Missions,” in IEEE Aerospace Conference, 2024.

Requirements

• Julia 1.9.0

Quickstart

Run notebook RoverWorld-BiLevel to start creating your own flat and bi-level MDPs for mission planning:

jupyter notebook notebooks/RoverWorld-BiLevel.ipynb

Run notebook VizRoverWorld to visualize the MDP solution:

jupyter notebook notebooks/VizRoverWorld.ipynb

Citing this work

Please use the following BibTex entry to cite this work.

@inproceedings{BanerjeeBalabanEtAl2024,
  author = {Banerjee, S. and Balaban, B. and Shirley, M. and Bradner, K. and Pavone, M.},
  title = {Contingency Planning Using Bi-level Markov Decision Processes for Space Missions},
  booktitle = {{IEEE Aerospace Conference}},
  year = {2024},
  url = {https://arxiv.org/abs/2402.16342}
}

Contact authors

Contact the authors at somrita@stanford.edu.