Probabilistic Planning for Decentralized Multi-Robot Systems

Christopher Amato, George Dimitri Konidaris, Shayegan Omidshafiei, Ali-akbar Agha-mohammadi, Jonathan P. How, Leslie Pack Kaelbling

Abstract: Multi-robot systems are an exciting application domain for AI research and Dec-POMDPs, specifically. MacDec-POMDP methods can produce high-quality general solutions for realistic heterogeneous multi-robot coordination problems by automatically generating control and communication policies, given a model. In contrast to most existing multi-robot methods that are specialized to a particular problem class, our approach can synthesize policies that exploit any opportunities for coordination that are present in the problem, while balancing uncertainty, sensor information, and information about other agents.