Online Planning for Multi- Agent Systems with Consensus Protocol
This article is concerned with decision-making and coordination among agents under uncertain conditions.We propose a novel algorithm for on-line planning of a multi-agent system based on Decentralized Partially Observable Markov Decision Processes (DEC-POMDP).This algorithm helps the multi-agent team to make a prudent decision in uncertain environment as prompt as possible.When communication is permitted,the agents exchange their partial information using a consensus protocol,such that the agents can approach a unique belief space.This guarantees that every agent makes a distributed decision which is the most beneficial to the team,unnecessary or false decisions are avoided.Furthermore,the algorithm can effectively reduce the agents dependency on observation and historical information,computational complexity is also decreased.Simulation results show feasibility and validity of the proposed algorithm.
Multi-agent System DEC-POMDP Consensus Planning
Wenxu Zhang Xiaolong Chen Lei Ma
School of Electrical Engineering,Southwest Jiaotong University,Chengdu 610031,China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1126-1131
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）