70,478 research outputs found
MAA*: A Heuristic Search Algorithm for Solving Decentralized POMDPs
We present multi-agent A* (MAA*), the first complete and optimal heuristic
search algorithm for solving decentralized partially-observable Markov decision
problems (DEC-POMDPs) with finite horizon. The algorithm is suitable for
computing optimal plans for a cooperative group of agents that operate in a
stochastic environment such as multirobot coordination, network traffic
control, `or distributed resource allocation. Solving such problems efiectively
is a major challenge in the area of planning under uncertainty. Our solution is
based on a synthesis of classical heuristic search and decentralized control
theory. Experimental results show that MAA* has significant advantages. We
introduce an anytime variant of MAA* and conclude with a discussion of
promising extensions such as an approach to solving infinite horizon problems.Comment: Appears in Proceedings of the Twenty-First Conference on Uncertainty
in Artificial Intelligence (UAI2005
Scalable Multiagent Coordination with Distributed Online Open Loop Planning
We propose distributed online open loop planning (DOOLP), a general framework
for online multiagent coordination and decision making under uncertainty. DOOLP
is based on online heuristic search in the space defined by a generative model
of the domain dynamics, which is exploited by agents to simulate and evaluate
the consequences of their potential choices.
We also propose distributed online Thompson sampling (DOTS) as an effective
instantiation of the DOOLP framework. DOTS models sequences of agent choices by
concatenating a number of multiarmed bandits for each agent and uses Thompson
sampling for dealing with action value uncertainty. The Bayesian approach
underlying Thompson sampling allows to effectively model and estimate
uncertainty about (a) own action values and (b) other agents' behavior. This
approach yields a principled and statistically sound solution to the
exploration-exploitation dilemma when exploring large search spaces with
limited resources.
We implemented DOTS in a smart factory case study with positive empirical
results. We observed effective, robust and scalable planning and coordination
capabilities even when only searching a fraction of the potential search space
Resource-Aware Junction Trees for Efficient Multi-Agent Coordination
In this paper we address efficient decentralised coordination of cooperative multi-agent systems by taking into account the actual computation and communication capabilities of the agents. We consider coordination problems that can be framed as Distributed Constraint Optimisation Problems, and as such, are suitable to be deployed on large scale multi-agent systems such as sensor networks or multiple unmanned aerial vehicles. Specifically, we focus on techniques that exploit structural independence among agents’ actions to provide optimal solutions to the coordination problem, and, in particular, we use the Generalized Distributive Law (GDL) algorithm. In this settings, we propose a novel resource aware heuristic to build junction trees and to schedule GDL computations across the agents. Our goal is to minimise the total running time of the coordination process, rather than the theoretical complexity of the computation, by explicitly considering the computation and communication capabilities of agents. We evaluate our proposed approach against DPOP, RDPI and a centralized solver on a number of benchmark coordination problems, and show that our approach is able to provide optimal solutions for DCOPs faster than previous approaches. Specifically, in the settings considered, when resources are scarce our approach is up to three times faster than DPOP (which proved to be the best among the competitors in our settings)
A Hybrid multi-agent architecture and heuristics generation for solving meeting scheduling problem
Agent-based computing has attracted much attention as a promising technique for application domains that are distributed, complex and heterogeneous. Current research on multi-agent systems (MAS) has become mature enough to be applied as a technology for solving problems in an increasingly wide range of complex applications. The main formal architectures used to describe the relationships between agents in MAS are centralised and distributed architectures.
In computational complexity theory, researchers have classified the problems into the followings categories: (i) P problems, (ii) NP problems, (iii) NP-complete problems, and (iv) NP-hard problems.
A method for computing the solution to NP-hard problems, using the algorithms and computational power available nowadays in reasonable time frame remains undiscovered. And unfortunately, many practical problems belong to this very class. On the other hand, it is essential that these problems are solved, and the only possibility of doing this is to use approximation techniques.
Heuristic solution techniques are an alternative. A heuristic is a strategy that is powerful in general, but not absolutely guaranteed to provide the best (i.e. optimal) solutions or even find a solution. This demands adopting some optimisation techniques such as Evolutionary Algorithms (EA).
This research has been undertaken to investigate the feasibility of running computationally intensive algorithms on multi-agent architectures while preserving the ability of small agents to run on small devices, including mobile devices. To achieve this, the present work proposes a new Hybrid Multi-Agent Architecture (HMAA) that generates new heuristics for solving NP-hard problems. This architecture is hybrid because it is "semi-distributed/semi-centralised" architecture where variables and constraints are distributed among small agents exactly as in distributed architectures, but when the small agents become stuck, a centralised control becomes active where the variables are transferred to a super agent, that has a central view of the whole system, and possesses much more computational power and intensive algorithms to generate new heuristics for the small agents, which find optimal solution for the specified problem.
This research comes up with the followings: (1) Hybrid Multi-Agent Architecture (HMAA) that generates new heuristic for solving many NP-hard problems. (2) Two frameworks of HMAA have been implemented; search and optimisation frameworks. (3) New SMA meeting scheduling heuristic. (4) New SMA repair strategy for the scheduling process. (5) Small Agent (SMA) that is responsible for meeting scheduling has been developed. (6) “Local Search Programming” (LSP), a new concept for evolutionary approaches, has been introduced. (7) Two types of super-agent (LGP_SUA and LSP_SUA) have been implemented in the HMAA, and two SUAs (local and global optima) have been implemented for each type. (8) A prototype for HMAA has been implemented: this prototype employs the proposed meeting scheduling heuristic with the repair strategy on SMAs, and the four extensive algorithms on SUAs.
The results reveal that this architecture is applicable to many different application domains because of its simplicity and efficiency. Its performance was better than many existing meeting scheduling architectures. HMAA can be modified and altered to other types of evolutionary approaches
The Simulation Model Partitioning Problem: an Adaptive Solution Based on Self-Clustering (Extended Version)
This paper is about partitioning in parallel and distributed simulation. That
means decomposing the simulation model into a numberof components and to
properly allocate them on the execution units. An adaptive solution based on
self-clustering, that considers both communication reduction and computational
load-balancing, is proposed. The implementation of the proposed mechanism is
tested using a simulation model that is challenging both in terms of structure
and dynamicity. Various configurations of the simulation model and the
execution environment have been considered. The obtained performance results
are analyzed using a reference cost model. The results demonstrate that the
proposed approach is promising and that it can reduce the simulation execution
time in both parallel and distributed architectures
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