Multi-robot planning under uncertainty with communication: a case study

João V. Messias, Matthijs T. J. Spaan, and Pedro U. Lima. Multi-robot planning under uncertainty with communication: a case study. In Multi-agent Sequential Decision Making in Uncertain Domains, 2010. Workshop at AAMAS10


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Although Dec-POMDP techniques can be useful to modeling a wide range of problems, their practical application is limited by the inherent computational complexity of the algorithms currently available to solve such models. The application of these techniques is typically restricted to theoretical examples. This work studies the application of a particular type of Dec-POMDP (a multiagent POMDP) model to solve a simple task in a realistically simulated robotic soccer environment. The multiagent POMDP exploits the availability of a communication channel, as is often the case in multi-robot systems. The necessary constraints on the problem are identified, and the steps taken to accomplish efficient cooperative behavior within real robot middleware are explained. Finally, results are presented for the proposed task that highlight further possible improvements.

BibTeX Entry

  author =       {Jo{\~a}o V. Messias and Matthijs T. J. Spaan and
                  Pedro U. Lima},
  title =        {Multi-robot planning under uncertainty with
                  communication: a case study},
  booktitle =    {Multi-agent Sequential Decision Making in Uncertain
  year =         2010,
  note =         {Workshop at AAMAS10}

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