ICRA 2011 Paper Abstract


Paper WeA102.2

Undurti, Aditya (Massachusetts Institute of Technology), How, Jonathan (Massachusetts Institute of Technology)

A Decentralized Approach to Multi-Agent Planning in the Presence of Constraints and Uncertainty

Scheduled for presentation during the Regular Sessions "Agent-Based Systems II" (WeA102), Wednesday, May 11, 2011, 08:35−08:50, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Autonomous Agents, Agent-Based Systems, Motion and Path Planning


We address the problem of planning in the presence of uncertainty and constraints for teams of unmanned vehicles. The problem is formulated as a Constrained Markov Decision Process (C-MDP). We allow for plans with a non-zero but bounded probability of violating constraints, a quantity that we define as risk and provide a solution technique that keeps the risk below a specified threshold while optimizing reward. We also use the decoupling between the dynamics of individual agents to assume transition independence and use this assumption to reduce the complexity of the problem. We provide representative simulation results which show that our technique acheives high reward while keeping risk bounded.



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