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)

Maximal reliability of controlled Markov systems

This paper concentrates on the reliability of a discrete-time controlled Markov system with finite states and actions, and aims to give an efficient algorithm for obtaining an optimal (control) policy that makes the system have the maximal reliability for every initial state. After establishing the existence of an optimal policy, for the computation of optimal policies, we introduce the concept of an absorbing set of a stationary policy, and find some characterization and a computational method of the absorbing sets. Using the largest absorbing set, we build a novel optimality equation (OE), and prove the uniqueness of a solution of the OE. Furthermore, we provide a policy iteration algorithm of optimal policies, and prove that an optimal policy and the maximal reliability can be obtained in a finite number of iterations. Finally, an example in reliability and maintenance problems is given to illustrate our results

Learning to Plan Near-Optimal Collision-Free Paths

A new approach to find a near-optimal collision-free path is presented. The path planner is an implementation of the adaptive error back-propagation algorithm which learns to plan “good”, if not optimal, collision-free paths from human-supervised training samples. Path planning is formulated as a classification problem in which class labels are uniquely mapped onto the set of maneuverable actions of a robot or vehicle. A multi-scale representational scheme maps physical problem domains onto an arbitrarily chosen fixed size input layer of an error back-propagation network. The mapping does not only reduce the size of the computation domain, but also ensures applicability of a trained network over a wide range of problem sizes. Parallel implementation of the neural network path planner on hypercubes or Transputers based on Parasoft EXPRESS is simple and efficient, Simulation results of binary terrain navigation indicate that the planner performs effectively in unknown environment in the test cases

Memory Bounded Open-Loop Planning in Large POMDPs using Thompson Sampling

State-of-the-art approaches to partially observable planning like POMCP are based on stochastic tree search. While these approaches are computationally efficient, they may still construct search trees of considerable size, which could limit the performance due to restricted memory resources. In this paper, we propose Partially Observable Stacked Thompson Sampling (POSTS), a memory bounded approach to open-loop planning in large POMDPs, which optimizes a fixed size stack of Thompson Sampling bandits. We empirically evaluate POSTS in four large benchmark problems and compare its performance with different tree-based approaches. We show that POSTS achieves competitive performance compared to tree-based open-loop planning and offers a performance-memory tradeoff, making it suitable for partially observable planning with highly restricted computational and memory resources.Comment: Presented at AAAI 201