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Paper WeD03.6

Capitan, Jesus (Instituto Superior Tecnico), Spaan, Matthijs (Delft University of Technology), Merino, Luis (Pablo de Olavide University), Ollero, Anibal (University of Seville)

Decentralized Multi-Robot Cooperation with Auctioned POMDPs

Scheduled for presentation during the Regular Session "Modular Robots & Multi-Agent Systems" (WeD03), Wednesday, May 16, 2012, 17:45−18:00, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 24, 2018

Keywords Distributed Robot Systems, Planning, Scheduling and Coordination, Networked Robots

Abstract

Planning under uncertainty faces a scalability problem when considering multi-robot teams, as the information space scales exponentially with the number of robots. To address this issue, this paper proposes to decentralize multi-agent Partially Observable Markov Decision Process (POMDPs) while maintaining cooperation between robots by using POMDP policy auctions. Also, communication models in the multi-agent POMDP literature severely mismatch with real inter-robot communication. We address this issue by applying a decentralized data fusion method in order to efficiently maintain a joint belief state among the robots. The paper focuses on a cooperative tracking application, in which several robots have to jointly track a moving target of interest. The proposed ideas are illustrated in real multi-robot experiments, showcasing the flexible and robust cooperation that our techniques can provide.

 

 

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