Decentralized Control of Partially Observable Markov Decision Processes using Belief Space Macro-actions

The focus of this paper is on solving multi-robot planning problems in continuous spaces with partial observability. Decentralized partially observable Markov decision processes (Dec-POMDPs) are general models for multi-robot coordination problems, but representing and solving Dec-POMDPs is often intractable for large problems. To allow for a high-level representation that is natural for multi-robot problems and scalable to large discrete and continuous problems, this paper extends the Dec-POMDP model to the decentralized partially observable semi-Markov decision process (Dec-POSMDP). The Dec-POSMDP formulation allows asynchronous decision-making by the robots, which is crucial in multi-robot domains. We also present an algorithm for solving this Dec-POSMDP which is much more scalable than previous methods since it can incorporate closed-loop belief space macro-actions in planning. These macro-actions are automatically constructed to produce robust solutions. The proposed method's performance is evaluated on a complex multi-robot package delivery problem under uncertainty, showing that our approach can naturally represent multi-robot problems and provide high-quality solutions for large-scale problems

Decentralized Cooperative Planning for Automated Vehicles with Hierarchical Monte Carlo Tree Search

Today's automated vehicles lack the ability to cooperate implicitly with others. This work presents a Monte Carlo Tree Search (MCTS) based approach for decentralized cooperative planning using macro-actions for automated vehicles in heterogeneous environments. Based on cooperative modeling of other agents and Decoupled-UCT (a variant of MCTS), the algorithm evaluates the state-action-values of each agent in a cooperative and decentralized manner, explicitly modeling the interdependence of actions between traffic participants. Macro-actions allow for temporal extension over multiple time steps and increase the effective search depth requiring fewer iterations to plan over longer horizons. Without predefined policies for macro-actions, the algorithm simultaneously learns policies over and within macro-actions. The proposed method is evaluated under several conflict scenarios, showing that the algorithm can achieve effective cooperative planning with learned macro-actions in heterogeneous environments

Multiscale Markov Decision Problems: Compression, Solution, and Transfer Learning

Many problems in sequential decision making and stochastic control often have natural multiscale structure: sub-tasks are assembled together to accomplish complex goals. Systematically inferring and leveraging hierarchical structure, particularly beyond a single level of abstraction, has remained a longstanding challenge. We describe a fast multiscale procedure for repeatedly compressing, or homogenizing, Markov decision processes (MDPs), wherein a hierarchy of sub-problems at different scales is automatically determined. Coarsened MDPs are themselves independent, deterministic MDPs, and may be solved using existing algorithms. The multiscale representation delivered by this procedure decouples sub-tasks from each other and can lead to substantial improvements in convergence rates both locally within sub-problems and globally across sub-problems, yielding significant computational savings. A second fundamental aspect of this work is that these multiscale decompositions yield new transfer opportunities across different problems, where solutions of sub-tasks at different levels of the hierarchy may be amenable to transfer to new problems. Localized transfer of policies and potential operators at arbitrary scales is emphasized. Finally, we demonstrate compression and transfer in a collection of illustrative domains, including examples involving discrete and continuous statespaces.Comment: 86 pages, 15 figure

Monte-Carlo methods for NLTE spectral synthesis of supernovae

We present JEKYLL, a new code for modelling of supernova (SN) spectra and lightcurves based on Monte-Carlo (MC) techniques for the radiative transfer. The code assumes spherical symmetry, homologous expansion and steady state for the matter, but is otherwise capable of solving the time-dependent radiative transfer problem in non-local-thermodynamic-equilibrium (NLTE). The method used was introduced in a series of papers by Lucy, but the full time-dependent NLTE capabilities of it have never been tested. Here, we have extended the method to include non-thermal excitation and ionization as well as charge-transfer and two-photon processes. Based on earlier work, the non-thermal rates are calculated by solving the Spencer-Fano equation. Using a method previously developed for the SUMO code, macroscopic mixing of the material is taken into account in a statistical sense. In addition, a statistical Markov-chain model is used to sample the emission frequency, and we introduce a method to control the sampling of the radiation field. Except for a description of JEKYLL, we provide comparisons with the ARTIS, SUMO and CMFGEN codes, which show good agreement in the calculated spectra as well as the state of the gas. In particular, the comparison with CMFGEN, which is similar in terms of physics but uses a different technique, shows that the Lucy method does indeed converge in the time-dependent NLTE case. Finally, as an example of the time-dependent NLTE capabilities of JEKYLL, we present a model of a Type IIb SN, taken from a set of models presented and discussed in detail in an accompanying paper. Based on this model we investigate the effects of NLTE, in particular those arising from non-thermal excitation and ionization, and find strong effects even on the bolometric lightcurve. This highlights the need for full NLTE calculations when simulating the spectra and lightcurves of SNe.Comment: Accepted for publication by Astronomy & Astrophysic

Learning for Multi-robot Cooperation in Partially Observable Stochastic Environments with Macro-actions

This paper presents a data-driven approach for multi-robot coordination in partially-observable domains based on Decentralized Partially Observable Markov Decision Processes (Dec-POMDPs) and macro-actions (MAs). Dec-POMDPs provide a general framework for cooperative sequential decision making under uncertainty and MAs allow temporally extended and asynchronous action execution. To date, most methods assume the underlying Dec-POMDP model is known a priori or a full simulator is available during planning time. Previous methods which aim to address these issues suffer from local optimality and sensitivity to initial conditions. Additionally, few hardware demonstrations involving a large team of heterogeneous robots and with long planning horizons exist. This work addresses these gaps by proposing an iterative sampling based Expectation-Maximization algorithm (iSEM) to learn polices using only trajectory data containing observations, MAs, and rewards. Our experiments show the algorithm is able to achieve better solution quality than the state-of-the-art learning-based methods. We implement two variants of multi-robot Search and Rescue (SAR) domains (with and without obstacles) on hardware to demonstrate the learned policies can effectively control a team of distributed robots to cooperate in a partially observable stochastic environment.Comment: Accepted to the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017

A Policy Switching Approach to Consolidating Load Shedding and Islanding Protection Schemes

In recent years there have been many improvements in the reliability of critical infrastructure systems. Despite these improvements, the power systems industry has seen relatively small advances in this regard. For instance, power quality deficiencies, a high number of localized contingencies, and large cascading outages are still too widespread. Though progress has been made in improving generation, transmission, and distribution infrastructure, remedial action schemes (RAS) remain non-standardized and are often not uniformly implemented across different utilities, ISOs, and RTOs. Traditionally, load shedding and islanding have been successful protection measures in restraining propagation of contingencies and large cascading outages. This paper proposes a novel, algorithmic approach to selecting RAS policies to optimize the operation of the power network during and after a contingency. Specifically, we use policy-switching to consolidate traditional load shedding and islanding schemes. In order to model and simulate the functionality of the proposed power systems protection algorithm, we conduct Monte-Carlo, time-domain simulations using Siemens PSS/E. The algorithm is tested via experiments on the IEEE-39 topology to demonstrate that the proposed approach achieves optimal power system performance during emergency situations, given a specific set of RAS policies.Comment: Full Paper Accepted to PSCC 2014 - IEEE Co-Sponsored Conference. 7 Pages, 2 Figures, 2 Table