Opportunistic Multi-robot Environmental Sampling via Decentralized Markov Decision Processes

2022 ◽  
pp. 163-175
Author(s):  
Ayan Dutta ◽  
O. Patrick Kreidl ◽  
Jason M. O’Kane
Keyword(s):  
Markov Decision Processes ◽  
Decision Processes ◽  
Environmental Sampling ◽  
Markov Decision ◽  
Multi Robot

Decentralized control of multi-robot partially observable Markov decision processes using belief space macro-actions

2017 ◽  
Vol 36 (2) ◽  
pp. 231-258 ◽  
Author(s):  
Shayegan Omidshafiei ◽  
Ali–Akbar Agha–Mohammadi ◽  
Christopher Amato ◽  
Shih–Yuan Liu ◽  
Jonathan P How ◽  
...  
Keyword(s):  
Markov Decision Processes ◽  
Large Scale ◽  
Decision Processes ◽  
Delivery Problem ◽  
Package Delivery ◽  
Markov Decision ◽  
Partially Observable Markov ◽  
High Level ◽  
Partially Observable ◽  
Multi Robot

This work focuses on solving general multi-robot planning problems in continuous spaces with partial observability given a high-level domain description. Decentralized Partially Observable Markov Decision Processes (Dec-POMDPs) are general models for multi-robot coordination problems. However, representing and solving Dec-POMDPs is often intractable for large problems. This work extends the Dec-POMDP model to the Decentralized Partially Observable Semi-Markov Decision Process (Dec-POSMDP) to take advantage of the high-level representations that are natural for multi-robot problems and to facilitate scalable solutions to large discrete and continuous problems. The Dec-POSMDP formulation uses task macro-actions created from lower-level local actions that allow for asynchronous decision-making by the robots, which is crucial in multi-robot domains. This transformation from Dec-POMDPs to Dec-POSMDPs with a finite set of automatically-generated macro-actions allows use of efficient discrete-space search algorithms to solve them. The paper presents algorithms for solving Dec-POSMDPs, which are more scalable than previous methods since they can incorporate closed-loop belief space macro-actions in planning. These macro-actions are automatically constructed to produce robust solutions. The proposed algorithms are then evaluated on a complex multi-robot package delivery problem under uncertainty, showing that our approach can naturally represent realistic problems and provide high-quality solutions for large-scale problems.

scholarly journals Applications of DEC-MDPs in Multi-Robot Systems

2012 ◽  
pp. 361-384
Author(s):  
Aurélie Beynier ◽  
Abdel-Illah Mouaddib
Keyword(s):  
Markov Decision Processes ◽  
Decentralized Control ◽  
Real World ◽  
Decision Processes ◽  
Decision Problems ◽  
Stochastic Environments ◽  
Robot Systems ◽  
Markov Decision ◽  
Multi Robot

In this chapter, we introduce problematics related to the decentralized control of multi-robot systems. We first describe some applicative domains and review the main characteristics of the decision problems the robots must deal with. Then, we review some existing approaches to solve problems of multiagent decentralized control in stochastic environments. We present the Decentralized Markov Decision Processes and discuss their applicability to real-world multi-robot applications. Then, we introduce OC-DEC-MDPs and 2V-DEC-MDPs which have been developed to increase the applicability of DEC-MDPs.

Extreme-point solutions in Markov decision processes

1983 ◽  
Vol 20 (04) ◽  
pp. 835-842
Author(s):  
David Assaf
Keyword(s):  
Convex Function ◽  
Extreme Point ◽  
Markov Decision Processes ◽  
Convex Functions ◽  
Sufficient Conditions ◽  
Decision Processes ◽  
Markov Decision ◽  
Full Solution

The paper presents sufficient conditions for certain functions to be convex. Functions of this type often appear in Markov decision processes, where their maximum is the solution of the problem. Since a convex function takes its maximum at an extreme point, the conditions may greatly simplify a problem. In some cases a full solution may be obtained after the reduction is made. Some illustrative examples are discussed.

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