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Home / Proceedings / Proceedings of the AAAI Conference on Artificial Intelligence, 27 / No. 1: Twenty-Seventh AAAI Conference on Artificial Intelligence

GSMDPs for Multi-Robot Sequential Decision-Making

March 8, 2023

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Authors

João Messias

Instituto Superior Técnico


Matthijs Spaan

Delft University of Technology


Pedro Lima

Instituto Superior Técnico


DOI:

10.1609/aaai.v27i1.8550


Abstract:

Markov Decision Processes (MDPs) provide an extensive theoretical background for problems of decision-making under uncertainty. In order to maintain computational tractability, however, real-world problems are typically discretized in states and actions as well as in time. Assuming synchronous state transitions and actions at fixed rates may result in models which are not strictly Markovian, or where agents are forced to idle between actions, losing their ability to react to sudden changes in the environment. In this work, we explore the application of Generalized Semi-Markov Decision Processes (GSMDPs) to a realistic multi-robot scenario. A case study will be presented in the domain of cooperative robotics, where real-time reactivity must be preserved, and synchronous discrete-time approaches are therefore sub-optimal. This case study is tested on a team of real robots, and also in realistic simulation. By allowing asynchronous events to be modeled over continuous time, the GSMDP approach is shown to provide greater solution quality than its discrete-time counterparts, while still being approximately solvable by existing methods.

Topics: AAAI

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HOW TO CITE:

João Messias|| Matthijs Spaan|| Pedro Lima GSMDPs for Multi-Robot Sequential Decision-Making Proceedings of the AAAI Conference on Artificial Intelligence, 27 (2013) 1408.

João Messias|| Matthijs Spaan|| Pedro Lima GSMDPs for Multi-Robot Sequential Decision-Making AAAI 2013, 1408.

João Messias|| Matthijs Spaan|| Pedro Lima (2013). GSMDPs for Multi-Robot Sequential Decision-Making. Proceedings of the AAAI Conference on Artificial Intelligence, 27, 1408.

João Messias|| Matthijs Spaan|| Pedro Lima. GSMDPs for Multi-Robot Sequential Decision-Making. Proceedings of the AAAI Conference on Artificial Intelligence, 27 2013 p.1408.

João Messias|| Matthijs Spaan|| Pedro Lima. 2013. GSMDPs for Multi-Robot Sequential Decision-Making. "Proceedings of the AAAI Conference on Artificial Intelligence, 27". 1408.

João Messias|| Matthijs Spaan|| Pedro Lima. (2013) "GSMDPs for Multi-Robot Sequential Decision-Making", Proceedings of the AAAI Conference on Artificial Intelligence, 27, p.1408

João Messias|| Matthijs Spaan|| Pedro Lima, "GSMDPs for Multi-Robot Sequential Decision-Making", AAAI, p.1408, 2013.

João Messias|| Matthijs Spaan|| Pedro Lima. "GSMDPs for Multi-Robot Sequential Decision-Making". Proceedings of the AAAI Conference on Artificial Intelligence, 27, 2013, p.1408.

João Messias|| Matthijs Spaan|| Pedro Lima. "GSMDPs for Multi-Robot Sequential Decision-Making". Proceedings of the AAAI Conference on Artificial Intelligence, 27, (2013): 1408.

João Messias|| Matthijs Spaan|| Pedro Lima. GSMDPs for Multi-Robot Sequential Decision-Making. AAAI[Internet]. 2013[cited 2023]; 1408.


ISSN: 2374-3468


Published by AAAI Press, Palo Alto, California USA
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