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Communication Dans Un Congrès Année : 2004

Decentralized Markov Decision Processes for Handling Temporal and Resource constraints in a Multiple Robot System

Résumé

We consider in this paper a multi-robot planning system where robots realize a common mission with the following characteristics : the mission is an acyclic graph of tasks with dependencies and temporal window validity. Tasks are distributed among robots which have uncertain durations and resource consumptions to achieve tasks. This class of problems can be solved by using decision-theoretic planning techniques that are able to handle local temporal constraints and dependencies between robots allowing them to synchronize their processing. A specific decision model and a value function allow robots to coordinate their actions at runtime to maximize the overall value of the mission realization. For that, we design in this paper a cooperative multi-robot planning system using distributed Markov Decision Processes (MDPs) without communicating. Robots take uncertainty on temporal intervals and dependencies into consideration and use a distributed value function to coordinate the actions of robots. 1.1 Introduction Although a substantial progress with formal models for decision process of individual robots using Markov Decision Process (MDP), extensions of MDP to multiple robots is lacking. Recent attempts identify different classes of multi-robot decision process that include Multi-Agent Markov Decision Process (MMDP) proposed by Boutilier [Bou99], the Partial Observable Identical Payoff Stochastic Game (POIPSG) proposed by Peshkin et al. [PKMK00], the multi-agent decision process by Xuan and Lesser [XLZ00], the Communicative Multiagent Team Decision Problem (COM-MTDP) proposed by Py-nadath and Tambe [NPY + 03], the Decentralized Markov Decision Process (DEC-POMDP and DEC-MDP) by Bernstein et al. [BZI00], DEC-MDP with a central coordination proposed by Hanna and Mouaddib [HM02], the DEC-POMDP with communication proposed by Goldman and Zilberstein [GZ03] and Transition Independent DEC-MDP proposed by Becker et al. [BZLG03]. Bererton et al. [BGT03] present an extension of MDPs and apply auction mechanisms to coordinate multiple robots. Therefore, they reduce communication. Nevertheless, agents communicate during the executing.
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hal-01344445 , version 1 (11-07-2016)

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Aurélie Beynier, Abdel-Illah Mouaddib. Decentralized Markov Decision Processes for Handling Temporal and Resource constraints in a Multiple Robot System. 7th International Symposium on Distributed Autonomous Robotic System, 2004, Toulouse, France. ⟨10.1007/978-4-431-35873-2_19⟩. ⟨hal-01344445⟩
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