A Two-Stage Online Approach for Collaborative Multi-Agent Planning under Uncertainty

Iván Palomares, Kim Bauters, Weiru Liu, Jun Hong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

In a team of multiple agents, the pursuance of a common goal is a defining characteristic. Since agents may have different capabilities, and effects of actions may be uncertain, a common goal can generally only be achieved through a careful cooperation between the different agents. In this work, we propose a novel two-stage planner that combines online planning at both team level and individual level through a subgoal delegation scheme. The proposal brings the advantages of online planning approaches to the multi-agent setting. A number of modifications are made to a classical UCT approximate algorithm to (i) adapt it to the application domains considered, (ii) reduce the branching factor in the underlying search process, and (iii) effectively manage uncertain information of action effects by using information fusion mechanisms. The proposed online multi-agent planner reduces the cost of planning and decreases the temporal cost of reaching a goal, while significantly increasing the chance of success of achieving the common goal. 
Original languageEnglish
Title of host publicationScalable Uncertainty Management: 10th International Conference, SUM 2016, Nice, France, September 21-23, 2016: Proceedings.
EditorsSteven Schockaert, Pierre Senellart
Place of PublicationSwitzerland
PublisherSpringer-Verlag
Pages214-229
Number of pages16
Volume9858
ISBN (Electronic)978-3-319-45856-4
ISBN (Print)978-3-319-45855-7
DOIs
Publication statusPublished - 30 Aug 2016
Event10th International Conference on Scalable Uncertainty Management - Chateau de Valrose, Nice, France
Duration: 21 Sep 201623 Sep 2016

Publication series

NameLecture Notes in Computer Science
PublisherSpringer International Publishing
Volume9858
ISSN (Print)0302-9743

Conference

Conference10th International Conference on Scalable Uncertainty Management
Abbreviated titleSUM 2016
CountryFrance
CityNice
Period21/09/201623/09/2016

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  • Cite this

    Palomares, I., Bauters, K., Liu, W., & Hong, J. (2016). A Two-Stage Online Approach for Collaborative Multi-Agent Planning under Uncertainty. In S. Schockaert, & P. Senellart (Eds.), Scalable Uncertainty Management: 10th International Conference, SUM 2016, Nice, France, September 21-23, 2016: Proceedings. (Vol. 9858, pp. 214-229). (Lecture Notes in Computer Science; Vol. 9858). Springer-Verlag. https://doi.org/10.1007/978-3-319-45856-4_15