9,922 research outputs found
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
Stacked Thompson Bandits
We introduce Stacked Thompson Bandits (STB) for efficiently generating plans
that are likely to satisfy a given bounded temporal logic requirement. STB uses
a simulation for evaluation of plans, and takes a Bayesian approach to using
the resulting information to guide its search. In particular, we show that
stacking multiarmed bandits and using Thompson sampling to guide the action
selection process for each bandit enables STB to generate plans that satisfy
requirements with a high probability while only searching a fraction of the
search space.Comment: Accepted at SEsCPS @ ICSE 201
Adaptive Path Planning for Depth Constrained Bathymetric Mapping with an Autonomous Surface Vessel
This paper describes the design, implementation and testing of a suite of
algorithms to enable depth constrained autonomous bathymetric (underwater
topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth
and a bounding polygon, the ASV will find and follow the intersection of the
bounding polygon and the depth contour as modeled online with a Gaussian
Process (GP). This intersection, once mapped, will then be used as a boundary
within which a path will be planned for coverage to build a map of the
Bathymetry. Methods for sequential updates to GP's are described allowing
online fitting, prediction and hyper-parameter optimisation on a small embedded
PC. New algorithms are introduced for the partitioning of convex polygons to
allow efficient path planning for coverage. These algorithms are tested both in
simulation and in the field with a small twin hull differential thrust vessel
built for the task.Comment: 21 pages, 9 Figures, 1 Table. Submitted to The Journal of Field
Robotic
Dynamic Clustering via Asymptotics of the Dependent Dirichlet Process Mixture
This paper presents a novel algorithm, based upon the dependent Dirichlet
process mixture model (DDPMM), for clustering batch-sequential data containing
an unknown number of evolving clusters. The algorithm is derived via a
low-variance asymptotic analysis of the Gibbs sampling algorithm for the DDPMM,
and provides a hard clustering with convergence guarantees similar to those of
the k-means algorithm. Empirical results from a synthetic test with moving
Gaussian clusters and a test with real ADS-B aircraft trajectory data
demonstrate that the algorithm requires orders of magnitude less computational
time than contemporary probabilistic and hard clustering algorithms, while
providing higher accuracy on the examined datasets.Comment: This paper is from NIPS 2013. Please use the following BibTeX
citation: @inproceedings{Campbell13_NIPS, Author = {Trevor Campbell and Miao
Liu and Brian Kulis and Jonathan P. How and Lawrence Carin}, Title = {Dynamic
Clustering via Asymptotics of the Dependent Dirichlet Process}, Booktitle =
{Advances in Neural Information Processing Systems (NIPS)}, Year = {2013}
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