Publications

| Sorted by Date | Classified by Publication Type | Classified by Research Category |

Decentralized Multi-Robot Cooperation with Auctioned POMDPs

Jesús Capitán, Matthijs T. J. Spaan, Luis Merino, and An\'ibal Ollero. Decentralized Multi-Robot Cooperation with Auctioned POMDPs. In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3323–3328, 2012.

Download

(unavailable)

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.

BibTeX Entry

@InProceedings{Capitan12icra,
  author =       {Jes\'us Capit\'an and Matthijs T. J. Spaan and Luis
                  Merino and An\'ibal Ollero},
  title =        {Decentralized Multi-Robot Cooperation with Auctioned
                  {POMDPs}},
  booktitle =    {Proceedings of the IEEE International Conference on
                  Robotics and Automation},
  year =         2012,
  pages =        {3323--3328}
}

Note: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.

Generated by bib2html.pl (written by Patrick Riley) on Thu Feb 29, 2024 16:15:45 UTC