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Policy search for multi-robot coordination under uncertainty

Publication ,  Conference
Amato, C; Konidaris, G; Anders, A; Cruz, G; How, JP; Kaelbling, LP
Published in: Robotics: Science and Systems
January 1, 2015

We introduce a principled method for multi-robot coordination based on a generic model (termed a MacDec-POMDP) of multi-robot cooperative planning in the presence of stochasticity, uncertain sensing and communication limitations. We present a new MacDec-POMDP planning algorithm that searches over policies represented as finite-state controllers, rather than the existing policy tree representation. Finite-state controllers can be much more concise than trees, are much easier to interpret, and can operate over an infinite horizon. The resulting policy search algorithm requires a substantially simpler simulator that models only the outcomes of executing a given set of motor controllers, not the details of the executions themselves and can to solve significantly larger problems than existing MacDec-POMDP planners. We demonstrate significantly improved performance over previous methods and application to a cooperative multi-robot bartending task, showing that our method can be used for actual multi-robot systems.

Duke Scholars

Published In

Robotics: Science and Systems

DOI

EISSN

2330-765X

ISBN

9780992374716

Publication Date

January 1, 2015

Volume

11
 

Citation

APA
Chicago
ICMJE
MLA
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Amato, C., Konidaris, G., Anders, A., Cruz, G., How, J. P., & Kaelbling, L. P. (2015). Policy search for multi-robot coordination under uncertainty. In Robotics: Science and Systems (Vol. 11). https://doi.org/10.15607/RSS.2015.XI.007
Amato, C., G. Konidaris, A. Anders, G. Cruz, J. P. How, and L. P. Kaelbling. “Policy search for multi-robot coordination under uncertainty.” In Robotics: Science and Systems, Vol. 11, 2015. https://doi.org/10.15607/RSS.2015.XI.007.
Amato C, Konidaris G, Anders A, Cruz G, How JP, Kaelbling LP. Policy search for multi-robot coordination under uncertainty. In: Robotics: Science and Systems. 2015.
Amato, C., et al. “Policy search for multi-robot coordination under uncertainty.” Robotics: Science and Systems, vol. 11, 2015. Scopus, doi:10.15607/RSS.2015.XI.007.
Amato C, Konidaris G, Anders A, Cruz G, How JP, Kaelbling LP. Policy search for multi-robot coordination under uncertainty. Robotics: Science and Systems. 2015.

Published In

Robotics: Science and Systems

DOI

EISSN

2330-765X

ISBN

9780992374716

Publication Date

January 1, 2015

Volume

11