Optimal Cost Indefinite-Horizon Reachability in Goal DEC-POMDPs. Krishnendu Chatterjee, M. C. .
abstract   bibtex   
DEC-POMDPs extend POMDPs to a multi-agent setting, where several agents operate in an uncertain environment independently to achieve a joint objective. DEC-POMDPs have been studied with finite-horizon and infinite-horizon discounted-sum objectives, and there exist solvers both for exact and approximate solutions. In this work we consider Goal-DEC-POMDPs, where given a set of target states, the objective is to ensure that the target set is reached with minimal cost. We consider the indefinite-horizon (infinite-horizon with either discounted-sum, or undiscounted-sum, where absorbing goal states have zero-cost) problem. We present a new and novel method to solve the problem that extends methods for finite-horizon DEC-POMDPs and the RTDP-Bel approach for POMDPs. We present experimental results on several examples, and show that our approach presents promising results.
@inproceeduings {icaps16-33,
  track    = {Robotics Track},
  title    = {Optimal Cost Indefinite-Horizon Reachability in Goal DEC-POMDPs},
  author   = {Krishnendu Chatterjee, Martin Chmel�k},
  abstract = {DEC-POMDPs extend POMDPs to a multi-agent setting, where several agents operate in an uncertain environment independently to achieve a joint objective. DEC-POMDPs have been studied with finite-horizon and infinite-horizon discounted-sum objectives, and there exist solvers both for exact and approximate solutions. 
In this work we consider Goal-DEC-POMDPs, where given a set of target states, the objective is to ensure that the target set is reached with minimal cost.
We consider the indefinite-horizon (infinite-horizon with either discounted-sum, or undiscounted-sum, where absorbing goal states have zero-cost) problem. 
We present a new and novel method to solve the problem that extends methods for finite-horizon DEC-POMDPs and the RTDP-Bel approach for POMDPs. 
We present experimental results on several examples, and show that our approach presents promising results.},
  keywords = {formal methods for robot planning and control,planning and coordination methods for multiple robots}
}
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