Related papers: MAA*: A Heuristic Search Algorithm for Solving Dec…
Although many real-world stochastic planning problems are more naturally formulated by hybrid models with both discrete and continuous variables, current state-of-the-art methods cannot adequately address these problems. We present the…
Hierarchical Reinforcement Learning (HRL) approaches have shown successful results in solving a large variety of complex, structured, long-horizon problems. Nevertheless, a full theoretical understanding of this empirical evidence is…
We consider the problem of finding an n-agent joint-policy for the optimal finite-horizon control of a decentralized Pomdp (Dec-Pomdp). This is a problem of very high complexity (NEXP-hard in n >= 2). In this paper, we propose a new…
Partially observable Markov decision processes (POMDP) are a useful model for decision-making under partial observability and stochastic actions. Partially Observable Monte-Carlo Planning is an online algorithm for deciding on the next…
In this paper, a stochastic approximation (SA) based distributed algorithm is proposed to solve the resource allocation (RA) with uncertainties. In this problem, a group of agents cooperatively optimize a separable optimization problem with…
Many real-world multi-agent systems exhibit nonlinear dynamics and complex inter-agent interactions. As these systems increase in scale, the main challenges arise from achieving scalability and handling nonconvexity. To address these…
We study the $(\varepsilon, \delta)$-PAC policy identification problem in finite-horizon episodic Markov Decision Processes. Existing approaches provide finite-time guarantees for approximate settings ($\varepsilon>0$) but suffer from high…
Coordinating multiple autonomous agents in shared environments under decentralized conditions is a long-standing challenge in robotics and artificial intelligence. This work addresses the problem of decentralized goal assignment for…
In this paper, we investigate learning temporal abstractions in cooperative multi-agent systems, using the options framework (Sutton et al, 1999). First, we address the planning problem for the decentralized POMDP represented by the…
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…
This paper presents the first ever approach for solving \emph{continuous-observation} Decentralized Partially Observable Markov Decision Processes (Dec-POMDPs) and their semi-Markovian counterparts, Dec-POSMDPs. This contribution is…
Constraint Optimization Problems (COP) pose intricate challenges in combinatorial problems usually addressed through Branch and Bound (B\&B) methods, which involve maintaining priority queues and iteratively selecting branches to search for…
Conventional multi-agent path planners typically compute an ensemble of paths while optimizing a single objective, such as path length. However, many applications may require multiple objectives, say fuel consumption and completion time, to…
Multi-Agent Path Finding (MAPF) is essential to large-scale robotic systems. Recent methods have applied reinforcement learning (RL) to learn decentralized polices in partially observable environments. A fundamental challenge of obtaining…
Memory-Bounded Dynamic Programming (MBDP) has proved extremely effective in solving decentralized POMDPs with large horizons. We generalize the algorithm and improve its scalability by reducing the complexity with respect to the number of…
We study exact, efficient and practical algorithms for route planning in large road networks. Routing applications often require integrating the current traffic situation, planning ahead with traffic predictions for the future, respecting…
We consider a cooperative multi-agent system consisting of a team of agents with decentralized information. Our focus is on the design of symmetric (i.e. identical) strategies for the agents in order to optimize a finite horizon team…
In this paper, we consider a class of continuous-time, continuous-space stochastic optimal control problems. Building upon recent advances in Markov chain approximation methods and sampling-based algorithms for deterministic path planning,…
This paper proposes a novel population-based meta-heuristic optimization algorithm, called Perfectionism Search Algorithm (PSA), which is based on the psychological aspects of perfectionism. The PSA algorithm takes inspiration from one of…
Motion planning for robotic systems with complex dynamics is a challenging problem. While recent sampling-based algorithms achieve asymptotic optimality by propagating random control inputs, their empirical convergence rate is often poor,…