This is a tutorial aimed at trying to build up the intuition behind
solution procedures for partially observable Markov decision processes
(`POMDP`s). It sacrifices completeness for clarity. It tries to
present the main problems geometrically, rather than with a series of formulas.
In fact, we avoid the actual formulas altogether, try to keep notation
to a minimum and rely on pictures to build up the intuition.

We try to keep the required background to a minimum and provide some brief mini-tutorials on the required background material. Select one of these below

- I am clue-less; I don't know anything about Markov decision processes or their algorithms.
- Refresh my memory; I know Markov decision processes, but not the value iteration algorithm for solving them.
- Give me the POMDPs; I know Markov decision processes, and the value iteration algorithm for solving them.
- I'm feeling brave; I know what a POMDP is, but I want to learn how to solve one.

Here is a complete index of all the pages in this tutorial.

- Brief Introduction to MDPs
- Brief Introduction to the Value Iteration Algorithm
- Background on POMDPs
- Background on Solving POMDPs
- POMDP Value Iteration Example
- General Form of a POMDP solution
- Monahan's Enumeration Algorithm
- Sondik's One-Pass Algorithm
- Cheng's Linear Support Algorithm
- Littman, et al's Witness Algorithm
- Zhang's Incremental Pruning Algorithm

*Last updated: 01/31/99*